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Update documentation (latest) f647014f54
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@@ -142,103 +142,121 @@ $(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initRe
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
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<div class="foldopen" id="foldopen00037" data-start="{" data-end="};">
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html"> 37</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span>{</div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="comment">// A forward of the internal enum, indexes should match. See src/rtflann/defines.h</span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">enum</span> flann_algorithm_t</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> {</div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> FLANN_INDEX_LINEAR = 0,</div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> FLANN_INDEX_KDTREE = 1,</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> FLANN_INDEX_KDTREE_SINGLE = 4,</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> FLANN_INDEX_LSH = 6,</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> };</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a>();</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">~FlannIndex</a>();</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">void</span> release();</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> std::vector<unsigned char> serializeIndex(<span class="keywordtype">bool</span> computeChecksum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">size_t</span> indexedFeatures() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="comment">// return Bytes</span></div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">size_t</span> memoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="comment">// Note that useDistanceL1 doesn't have any effect if LSH is used</span></div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">void</span> buildIndex(</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> flann_algorithm_t algorithm,</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">const</span> cv::Mat & features,</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f);</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="comment">// Return false if the indexData doesn't correspond to expected features used and parameters.</span></div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">bool</span> loadIndex(</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keyword">const</span> std::vector<unsigned char> & indexData,</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> flann_algorithm_t algorithm,</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> cv::Mat & features,</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f,</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> std::string * errorMsg = NULL);</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keywordtype">bool</span> loadIndex(</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * indexData,</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keywordtype">size_t</span> indexDataSize,</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> flann_algorithm_t algorithm,</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">const</span> cv::Mat & features,</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f,</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> std::string * errorMsg = NULL);</div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> </div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keywordtype">bool</span> isBuilt();</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keywordtype">int</span> featuresType()<span class="keyword"> const </span>{<span class="keywordflow">return</span> featuresType_;}</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keywordtype">int</span> featuresDim()<span class="keyword"> const </span>{<span class="keywordflow">return</span> featuresDim_;}</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> std::vector<unsigned int> addPoints(<span class="keyword">const</span> cv::Mat & features);</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordtype">void</span> removePoint(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index);</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="comment">// return squared distances (indices should be casted in size_t)</span></div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">void</span> knnSearch(</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">const</span> cv::Mat & query,</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> cv::Mat & indices,</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> cv::Mat & dists,</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">int</span> knn,</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordtype">int</span> checks = 32,</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">float</span> eps = 0.0,</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="comment">// return squared distances</span></div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">void</span> radiusSearch(</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keyword">const</span> cv::Mat & query,</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> std::vector<std::vector<size_t> > & indices,</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> std::vector<std::vector<float> > & dists,</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">float</span> radius,</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">int</span> maxNeighbors = 0,</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">int</span> checks = 32,</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">float</span> eps = 0.0,</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> </div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">void</span> * index_;</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nextIndex_;</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">int</span> featuresType_;</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">int</span> featuresDim_;</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordtype">bool</span> useDistanceL1_; <span class="comment">// true=EUCLEDIAN_L2 false=MANHATTAN_L1</span></div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">float</span> rebalancingFactor_;</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> flann_algorithm_t algorithm_;</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="comment">// keep feature in memory until the tree is rebuilt</span></div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="comment">// (in case the word is deleted when removed from the VWDictionary)</span></div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> std::map<int, cv::Mat> addedDescriptors_;</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> std::list<int> removedIndexes_;</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span>};</div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">class </span>NanoFlannIndex;</div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
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<div class="foldopen" id="foldopen00055" data-start="{" data-end="};">
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html"> 55</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a></div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span>{</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00075" data-start="{" data-end="};">
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010"> 75</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a></div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> {</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818"> 77</a></span> FLANN_INDEX_LINEAR = 0, </div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d"> 78</a></span> FLANN_INDEX_KDTREE = 1, </div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081"> 79</a></span> FLANN_INDEX_KDTREE_SINGLE = 4, </div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8"> 80</a></span> FLANN_INDEX_LSH = 6, </div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3"> 86</a></span> NANOFLANN_INDEX_KDTREE_SINGLE = 100,</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> };</div>
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</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_SRC_FLANNINDEX_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00037">FlannIndex.h:38</a></div></div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a>();</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">~FlannIndex</a>();</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4"> 93</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">release</a>();</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23"> 106</a></span> std::vector<unsigned char> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">serializeIndex</a>(<span class="keywordtype">bool</span> computeChecksum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a"> 109</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">indexedFeatures</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f"> 115</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">memoryUsed</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521"> 128</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">buildIndex</a>(</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm,</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">const</span> cv::Mat & features,</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f);</div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
|
||||
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b"> 148</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">loadIndex</a>(</div>
|
||||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">const</span> std::vector<unsigned char> & indexData,</div>
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm,</div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">const</span> cv::Mat & features,</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f,</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> std::string * errorMsg = NULL);</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e"> 156</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e">loadIndex</a>(</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * indexData,</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">size_t</span> indexDataSize,</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm,</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> cv::Mat & features,</div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f,</div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> std::string * errorMsg = NULL);</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> </div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23"> 166</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">isBuilt</a>();</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69"> 169</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">featuresType</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> featuresType_;}</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3"> 171</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">featuresDim</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> featuresDim_;}</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68"> 180</a></span> std::vector<unsigned int> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">addPoints</a>(<span class="keyword">const</span> cv::Mat & features);</div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0"> 189</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">removePoint</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index);</div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> </div>
|
||||
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75"> 205</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">knnSearch</a>(</div>
|
||||
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> cv::Mat & query,</div>
|
||||
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> cv::Mat & indices,</div>
|
||||
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> cv::Mat & dists,</div>
|
||||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">int</span> knn,</div>
|
||||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">int</span> checks = 32,</div>
|
||||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> eps = 0.0,</div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
|
||||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5"> 229</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">radiusSearch</a>(</div>
|
||||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> cv::Mat & query,</div>
|
||||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> std::vector<std::vector<size_t> > & indices,</div>
|
||||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> std::vector<std::vector<float> > & dists,</div>
|
||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">int</span> maxNeighbors = 0,</div>
|
||||
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">int</span> checks = 32,</div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">float</span> eps = 0.0,</div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">void</span> * index_; <span class="comment">// rtflann backend</span></div>
|
||||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> NanoFlannIndex * nanoIndex_; <span class="comment">// nanoflann backend, only one of the two is set</span></div>
|
||||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nextIndex_;</div>
|
||||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">int</span> featuresType_;</div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordtype">int</span> featuresDim_;</div>
|
||||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">bool</span> useDistanceL1_; <span class="comment">// true=EUCLEDIAN_L2 false=MANHATTAN_L1</span></div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">float</span> rebalancingFactor_;</div>
|
||||
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm_;</div>
|
||||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
|
||||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="comment">// keep feature in memory until the tree is rebuilt</span></div>
|
||||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="comment">// (in case the word is deleted when removed from the VWDictionary)</span></div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> std::map<int, cv::Mat> addedDescriptors_;</div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> std::list<int> removedIndexes_;</div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> </div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span>} <span class="comment">/* namespace rtabmap */</span></div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> </div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_SRC_FLANNINDEX_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdoc">Nearest neighbor index over a set of features.</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00055">FlannIndex.h:56</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a028eac4aeef64d62b9edea1f7b38a71e"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e">rtabmap::FlannIndex::loadIndex</a></div><div class="ttdeci">bool loadIndex(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</div><div class="ttdoc">Load an index from a raw buffer, see the overload above.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a1f2bf8718a75aa0b5dded8c287293c23"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">rtabmap::FlannIndex::serializeIndex</a></div><div class="ttdeci">std::vector< unsigned char > serializeIndex(bool computeChecksum=true) const</div><div class="ttdoc">Serialize the index, to be given back to loadIndex()</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a37bb608ab9ae1e7db35c2681a0c17eb5"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">rtabmap::FlannIndex::radiusSearch</a></div><div class="ttdeci">void radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const</div><div class="ttdoc">Search the neighbors of each query within a radius.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a4a5c33446a515bd8f0c2f73a1adaeb23"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">rtabmap::FlannIndex::isBuilt</a></div><div class="ttdeci">bool isBuilt()</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a5a2eed18fe1216142d09c05243e9d06f"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">rtabmap::FlannIndex::memoryUsed</a></div><div class="ttdeci">size_t memoryUsed() const</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a6eb4692afb561932aa6a20f7ebdee6c4"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">rtabmap::FlannIndex::release</a></div><div class="ttdeci">void release()</div><div class="ttdoc">Drop the index and everything it holds, back to the state of a new one.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a759817fbddaf8c6bdb04ba0a44e9847a"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">rtabmap::FlannIndex::indexedFeatures</a></div><div class="ttdeci">size_t indexedFeatures() const</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a7d78d049ac4afb9f90fc0705506a6ce0"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">rtabmap::FlannIndex::removePoint</a></div><div class="ttdeci">void removePoint(unsigned int index)</div><div class="ttdoc">Remove an indexed feature, by the index addPoints() gave for it.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a8191e3ba9cc7a5361443430171691df3"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">rtabmap::FlannIndex::featuresDim</a></div><div class="ttdeci">int featuresDim() const</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00171">FlannIndex.h:171</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a826b3a33e22f455f04688df9d0d25b0b"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">rtabmap::FlannIndex::loadIndex</a></div><div class="ttdeci">bool loadIndex(const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</div><div class="ttdoc">Load an index serialized by serializeIndex(), releasing any previous one.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a88ddfe63de9e9f574ac804ade460f010"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">rtabmap::FlannIndex::flann_algorithm_t</a></div><div class="ttdeci">flann_algorithm_t</div><div class="ttdoc">The index structure built by buildIndex()</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00075">FlannIndex.h:76</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a8bd8312e92376d6bf2885907f5d93c68"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">rtabmap::FlannIndex::addPoints</a></div><div class="ttdeci">std::vector< unsigned int > addPoints(const cv::Mat &features)</div><div class="ttdoc">Add features to the index.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_aad2f29314c6b021d1c53217a7a041521"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">rtabmap::FlannIndex::buildIndex</a></div><div class="ttdeci">void buildIndex(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)</div><div class="ttdoc">Build the index over the given features, releasing any previous one.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_accf263b21aaacf3d00e6e73ccef5cc75"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">rtabmap::FlannIndex::knnSearch</a></div><div class="ttdeci">void knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const</div><div class="ttdoc">Search the k nearest neighbors of each query.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_ace329768df8b54b935fbe7a8921efe69"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">rtabmap::FlannIndex::featuresType</a></div><div class="ttdeci">int featuresType() const</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00169">FlannIndex.h:169</a></div></div>
|
||||
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
|
||||
</div><!-- fragment --></div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
|
||||
@@ -279,10 +279,10 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a14b56aaa304f0a16640ab233cdf51699"> 252</a></span> RTABMAP_PARAM(Mem, RotateImagesUpsideUp, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <span class="stringliteral">"Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet."</span>);</div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> </div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="comment">// KeypointMemory (Keypoint-based)</span></div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a2df3c573a24040a99c2204b15d40b3af"> 255</a></span> RTABMAP_PARAM(Kp, NNStrategy, <span class="keywordtype">int</span>, 1, <span class="stringliteral">"kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4"</span>);</div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a2df3c573a24040a99c2204b15d40b3af"> 255</a></span> RTABMAP_PARAM(Kp, NNStrategy, <span class="keywordtype">int</span>, 1, <span class="stringliteral">"FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, FLANN KdTree Single=5, NanoFLANN KdTree=6"</span>);</div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad7274a400277b33267ef1ee69aa528ee"> 256</a></span> RTABMAP_PARAM(Kp, IncrementalDictionary, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">""</span>);</div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a66f0bded3fc68132c461caec2347d740"> 257</a></span> RTABMAP_PARAM(Kp, IncrementalFlann, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size)."</span>, kKpFlannRebalancingFactor().c_str()));</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a48c34474ee0a9b6f8862688f2015fce8"> 258</a></span> RTABMAP_PARAM(Kp, FlannRebalancingFactor, <span class="keywordtype">float</span>, 2.0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable."</span>, kKpIncrementalFlann().c_str()));</div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a66f0bded3fc68132c461caec2347d740"> 257</a></span> RTABMAP_PARAM(Kp, IncrementalFlann, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is only rebuilt when too many of its features have been removed, see \"%s\")."</span>, kKpFlannRebalancingFactor().c_str()));</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a48c34474ee0a9b6f8862688f2015fce8"> 258</a></span> RTABMAP_PARAM(Kp, FlannRebalancingFactor, <span class="keywordtype">float</span>, 2.0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Rebuild the incremental FLANN index (see \"%s\") once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled (\"%s\" or \"%s\"). Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one."</span>, kKpIncrementalFlann().c_str(), kRtabmapTimeThr().c_str(), kRtabmapMemoryThr().c_str()));</div>
|
||||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a65c89efe990caf9872456567afd54c71"> 259</a></span> RTABMAP_PARAM(Kp, ByteToFloat, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching."</span>, kKpNNStrategy().c_str()));</div>
|
||||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a1d5841e95b1f505365866234f89b3d5f"> 260</a></span> RTABMAP_PARAM(Kp, MaxDepth, <span class="keywordtype">float</span>, 0, <span class="stringliteral">"Filter extracted keypoints by depth (0=inf)."</span>);</div>
|
||||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aae97af028948e434ca9a6e48d1f1aa33"> 261</a></span> RTABMAP_PARAM(Kp, MinDepth, <span class="keywordtype">float</span>, 0, <span class="stringliteral">"Filter extracted keypoints by depth."</span>);</div>
|
||||
@@ -807,7 +807,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
|
||||
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a073559bc6e3b3b08ac7e7595e9e3dd2a"> 780</a></span> RTABMAP_PARAM(Vis, GridRows, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell."</span>, kVisMaxFeatures().c_str()));</div>
|
||||
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ac277e2a7fc50b150144308e1ba9b241a"> 781</a></span> RTABMAP_PARAM(Vis, GridCols, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell."</span>, kVisMaxFeatures().c_str()));</div>
|
||||
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a4390086fa765b55ed8db95ed4c84402f"> 782</a></span> RTABMAP_PARAM(Vis, CorType, <span class="keywordtype">int</span>, 0, <span class="stringliteral">"Correspondences computation approach: 0=Features Matching, 1=Optical Flow"</span>);</div>
|
||||
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a975192ffcb93b8b2923379657090fcf7"> 783</a></span> RTABMAP_PARAM(Vis, CorNNType, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach."</span>, kVisCorType().c_str()));</div>
|
||||
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a975192ffcb93b8b2923379657090fcf7"> 783</a></span> RTABMAP_PARAM(Vis, CorNNType, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach."</span>, kVisCorType().c_str()));</div>
|
||||
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a9878752f654207e07d5ab91c957eea8e"> 784</a></span> RTABMAP_PARAM(Vis, CorNNDR, <span class="keywordtype">float</span>, 0.8, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach."</span>, kVisCorType().c_str()));</div>
|
||||
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#af34904f60b0b96ad96f9cbf1a4b14cd3"> 785</a></span> RTABMAP_PARAM(Vis, CorGuessWinSize, <span class="keywordtype">int</span>, 40, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled."</span>, kVisCorType().c_str()));</div>
|
||||
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aa12553705c26df80ec035a08c172138f"> 786</a></span> RTABMAP_PARAM(Vis, CorGuessMatchToProjection, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners."</span>, kVisCorType().c_str()));</div>
|
||||
|
||||
@@ -162,86 +162,91 @@ $(document).ready(function(){initNavTree('RegistrationVis_8h_source.html',''); i
|
||||
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834"> 73</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834">getIterations</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _iterations;}</div>
|
||||
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4"> 75</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4">getMinInliers</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _minInliers;}</div>
|
||||
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347"> 77</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">getNNType</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nnType;}</div>
|
||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a"> 79</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">getNNDR</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nndr;}</div>
|
||||
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31"> 81</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">getEstimationType</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _estimationType;}</div>
|
||||
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> </div>
|
||||
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55"> 84</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55">getDetector</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _detectorFrom;}</div>
|
||||
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
|
||||
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f"> 87</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f">computeTransformationImpl</a>(</div>
|
||||
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & from,</div>
|
||||
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & to,</div>
|
||||
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess,</div>
|
||||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> & info) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c"> 79</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">getNNTypeName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">getNNTypeName</a>(_nnType);}</div>
|
||||
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
|
||||
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a770e36d382cf124c47847e50436ae40e"> 84</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a770e36d382cf124c47847e50436ae40e">getNNTypeName</a>(<span class="keywordtype">int</span> nnType);</div>
|
||||
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a"> 86</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">getNNDR</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nndr;}</div>
|
||||
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31"> 88</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">getEstimationType</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _estimationType;}</div>
|
||||
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
|
||||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55"> 91</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55">getDetector</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _detectorFrom;}</div>
|
||||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
|
||||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isImageRequiredImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">true</span>;}</div>
|
||||
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> canUseGuessImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _correspondencesApproach != 0 || _guessWinSize>0;}</div>
|
||||
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getMinVisualCorrespondencesImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _minInliers;}</div>
|
||||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
|
||||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordtype">int</span> _minInliers;</div>
|
||||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">float</span> _inlierDistance;</div>
|
||||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">int</span> _iterations;</div>
|
||||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">int</span> _refineIterations;</div>
|
||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">float</span> _epipolarGeometryVar;</div>
|
||||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">int</span> _estimationType;</div>
|
||||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">float</span> _PnPReprojError;</div>
|
||||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> _PnPFlags;</div>
|
||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> _PnPRefineIterations;</div>
|
||||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">int</span> _PnPVarMedianRatio;</div>
|
||||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">float</span> _PnPMaxVar;</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">bool</span> _PnPSplitLinearCovarianceComponents;</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _multiSamplingPolicy;</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">int</span> _correspondencesApproach;</div>
|
||||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">int</span> _flowWinSize;</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">int</span> _flowIterations;</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">float</span> _flowEps;</div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">int</span> _flowMaxLevel;</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">bool</span> _flowGpu;</div>
|
||||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">bool</span> _flowUseMinEigenVals;</div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordtype">float</span> _flowMinEigThreshold;</div>
|
||||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">float</span> _flowErrorThreshold;</div>
|
||||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">float</span> _nndr;</div>
|
||||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">int</span> _nnType;</div>
|
||||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">bool</span> _gmsWithRotation;</div>
|
||||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">bool</span> _gmsWithScale;</div>
|
||||
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">double</span> _gmsThresholdFactor;</div>
|
||||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">int</span> _guessWinSize;</div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">bool</span> _guessMatchToProjection;</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">int</span> _bundleAdjustment;</div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">bool</span> _depthAsMask;</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">float</span> _maskFloorThreshold;</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">float</span> _minInliersDistributionThr;</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">float</span> _maxInliersMeanDistance;</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> _featureParameters;</div>
|
||||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> _bundleParameters;</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> Feature2D * _detectorFrom;</div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> Feature2D * _detectorTo;</div>
|
||||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span><span class="preprocessor">#ifdef RTABMAP_PYTHON</span></div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> PyMatcher * _pyMatcher;</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span><span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> </div>
|
||||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span>}</div>
|
||||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f"> 94</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f">computeTransformationImpl</a>(</div>
|
||||
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & from,</div>
|
||||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & to,</div>
|
||||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess,</div>
|
||||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> & info) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
|
||||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isImageRequiredImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">true</span>;}</div>
|
||||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> canUseGuessImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _correspondencesApproach != 0 || _guessWinSize>0;}</div>
|
||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getMinVisualCorrespondencesImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _minInliers;}</div>
|
||||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> </div>
|
||||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> _minInliers;</div>
|
||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">float</span> _inlierDistance;</div>
|
||||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">int</span> _iterations;</div>
|
||||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">int</span> _refineIterations;</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">float</span> _epipolarGeometryVar;</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">int</span> _estimationType;</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">float</span> _PnPReprojError;</div>
|
||||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">int</span> _PnPFlags;</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">int</span> _PnPRefineIterations;</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">int</span> _PnPVarMedianRatio;</div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">float</span> _PnPMaxVar;</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">bool</span> _PnPSplitLinearCovarianceComponents;</div>
|
||||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _multiSamplingPolicy;</div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordtype">int</span> _correspondencesApproach;</div>
|
||||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">int</span> _flowWinSize;</div>
|
||||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">int</span> _flowIterations;</div>
|
||||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">float</span> _flowEps;</div>
|
||||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">int</span> _flowMaxLevel;</div>
|
||||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">bool</span> _flowGpu;</div>
|
||||
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">bool</span> _flowUseMinEigenVals;</div>
|
||||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">float</span> _flowMinEigThreshold;</div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">float</span> _flowErrorThreshold;</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">float</span> _nndr;</div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">int</span> _nnType;</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">bool</span> _gmsWithRotation;</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">bool</span> _gmsWithScale;</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">double</span> _gmsThresholdFactor;</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">int</span> _guessWinSize;</div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">bool</span> _guessMatchToProjection;</div>
|
||||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">int</span> _bundleAdjustment;</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">bool</span> _depthAsMask;</div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">float</span> _maskFloorThreshold;</div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordtype">float</span> _minInliersDistributionThr;</div>
|
||||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">float</span> _maxInliersMeanDistance;</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> _featureParameters;</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> _bundleParameters;</div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
|
||||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> Feature2D * _detectorFrom;</div>
|
||||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> Feature2D * _detectorTo;</div>
|
||||
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
|
||||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="preprocessor">#endif </span><span class="comment">/* REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="preprocessor">#ifdef RTABMAP_PYTHON</span></div>
|
||||
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> PyMatcher * _pyMatcher;</div>
|
||||
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span><span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span>}</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span><span class="preprocessor">#endif </span><span class="comment">/* REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Feature2D_html"><div class="ttname"><a href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></div><div class="ttdoc">Abstract 2D feature detector and descriptor extractor for visual SLAM.</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00145">Features2d.h:145</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><div class="ttdoc">Statistics and diagnostics returned by Registration.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></div><div class="ttdoc">Visual registration between two signatures using features and geometry.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00060">RegistrationVis.h:61</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a0a860fb3509b4c5b135b66ebd5cd6e55"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55">rtabmap::RegistrationVis::getDetector</a></div><div class="ttdeci">const Feature2D * getDetector() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00084">RegistrationVis.h:84</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a0a860fb3509b4c5b135b66ebd5cd6e55"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55">rtabmap::RegistrationVis::getDetector</a></div><div class="ttdeci">const Feature2D * getDetector() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00091">RegistrationVis.h:91</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a488ecb8a7423996abdad98b0044cd7f2"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2">rtabmap::RegistrationVis::getInlierDistance</a></div><div class="ttdeci">float getInlierDistance() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00071">RegistrationVis.h:71</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a6560046940995044d7a51cb0066d420e"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e">rtabmap::RegistrationVis::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &parameters)</div><div class="ttdoc">Parses Vis/ and feature parameters; recreates feature detectors.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a697d562bebe30b73a1ecd34dabee4347"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">rtabmap::RegistrationVis::getNNType</a></div><div class="ttdeci">int getNNType() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00077">RegistrationVis.h:77</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a770e36d382cf124c47847e50436ae40e"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a770e36d382cf124c47847e50436ae40e">rtabmap::RegistrationVis::getNNTypeName</a></div><div class="ttdeci">static std::string getNNTypeName(int nnType)</div><div class="ttdoc">Name of a Vis/CorNNType value.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a93331add1822dd6f02bc74efec6d6834"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834">rtabmap::RegistrationVis::getIterations</a></div><div class="ttdeci">int getIterations() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00073">RegistrationVis.h:73</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a951c79dd9be75b896c551e5213c0ee31"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">rtabmap::RegistrationVis::getEstimationType</a></div><div class="ttdeci">int getEstimationType() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00081">RegistrationVis.h:81</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a951c79dd9be75b896c551e5213c0ee31"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">rtabmap::RegistrationVis::getEstimationType</a></div><div class="ttdeci">int getEstimationType() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00088">RegistrationVis.h:88</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a9fd0ba3453d2c658d8a9b1cee5ba132c"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">rtabmap::RegistrationVis::getNNTypeName</a></div><div class="ttdeci">std::string getNNTypeName() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00079">RegistrationVis.h:79</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_aa47fd3a0599ee918e024161db330a92f"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f">rtabmap::RegistrationVis::computeTransformationImpl</a></div><div class="ttdeci">virtual Transform computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const</div><div class="ttdoc">Strategy-specific registration.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_aa845f7fbbfc8fc340dba96a2a6550d03"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03">rtabmap::RegistrationVis::RegistrationVis</a></div><div class="ttdeci">RegistrationVis(const ParametersMap &parameters=ParametersMap(), Registration *child=0)</div><div class="ttdoc">child is owned and deleted in the destructor.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_ae951e95c4ae2ea1ab5c4d849823d66c4"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4">rtabmap::RegistrationVis::getMinInliers</a></div><div class="ttdeci">int getMinInliers() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00075">RegistrationVis.h:75</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_aed9e9e593b290a4be1aeda05967a631a"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">rtabmap::RegistrationVis::getNNDR</a></div><div class="ttdeci">float getNNDR() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00079">RegistrationVis.h:79</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_aed9e9e593b290a4be1aeda05967a631a"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">rtabmap::RegistrationVis::getNNDR</a></div><div class="ttdeci">float getNNDR() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00086">RegistrationVis.h:86</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</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_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>
|
||||
|
||||
@@ -159,195 +159,203 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
|
||||
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html"> 65</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a></div>
|
||||
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>{</div>
|
||||
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="keyword">public</span>:</div>
|
||||
<div class="foldopen" id="foldopen00072" data-start="{" data-end="};">
|
||||
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655"> 72</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a>{</div>
|
||||
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0"> 73</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">kNNFlannNaive</a>, </div>
|
||||
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5"> 74</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">kNNFlannKdTree</a>, </div>
|
||||
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992"> 75</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">kNNFlannLSH</a>, </div>
|
||||
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d"> 76</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">kNNBruteForce</a>, </div>
|
||||
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"> 77</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">kNNBruteForceGPU</a>, </div>
|
||||
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> kNNUndef </div>
|
||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9"> 79</a></span> };</div>
|
||||
<div class="foldopen" id="foldopen00077" data-start="{" data-end="};">
|
||||
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655"> 77</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a>{</div>
|
||||
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0"> 78</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">kNNFlannNaive</a>, </div>
|
||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5"> 79</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">kNNFlannKdTree</a>, </div>
|
||||
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992"> 80</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">kNNFlannLSH</a>, </div>
|
||||
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d"> 81</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">kNNBruteForce</a>, </div>
|
||||
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"> 82</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">kNNBruteForceGPU</a>, </div>
|
||||
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1"> 83</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1">kNNFlannKdTreeSingle</a>, </div>
|
||||
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7"> 84</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7">kNNNanoFlannKdTree</a>, </div>
|
||||
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> kNNUndef </div>
|
||||
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9"> 86</a></span> };</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
|
||||
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37"> 84</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37">ID_START</a>;</div>
|
||||
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
|
||||
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f"> 89</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f">ID_INVALID</a>;</div>
|
||||
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
|
||||
<div class="foldopen" id="foldopen00096" data-start="{" data-end="}">
|
||||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc"> 96</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">nnStrategyName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> strategy)</div>
|
||||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> {</div>
|
||||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordflow">switch</span>(strategy) {</div>
|
||||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordflow">case</span> kNNFlannNaive:</div>
|
||||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN NAIVE"</span>;</div>
|
||||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordflow">case</span> kNNFlannKdTree:</div>
|
||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN KD-TREE"</span>;</div>
|
||||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordflow">case</span> kNNFlannLSH:</div>
|
||||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN LSH"</span>;</div>
|
||||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordflow">case</span> kNNBruteForce:</div>
|
||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordflow">return</span> <span class="stringliteral">"BRUTE FORCE"</span>;</div>
|
||||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordflow">case</span> kNNBruteForceGPU:</div>
|
||||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordflow">return</span> <span class="stringliteral">"BRUTE FORCE GPU"</span>;</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordflow">default</span>:</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">return</span> <span class="stringliteral">"Unknown"</span>;</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> }</div>
|
||||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> }</div>
|
||||
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
|
||||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37"> 91</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37">ID_START</a>;</div>
|
||||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
|
||||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f"> 96</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f">ID_INVALID</a>;</div>
|
||||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
|
||||
<div class="foldopen" id="foldopen00103" data-start="{" data-end="}">
|
||||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc"> 103</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">nnStrategyName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> strategy)</div>
|
||||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> {</div>
|
||||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordflow">switch</span>(strategy) {</div>
|
||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordflow">case</span> kNNFlannNaive:</div>
|
||||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN NAIVE"</span>;</div>
|
||||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordflow">case</span> kNNFlannKdTree:</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN KD-TREE"</span>;</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">case</span> kNNFlannLSH:</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN LSH"</span>;</div>
|
||||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordflow">case</span> kNNBruteForce:</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordflow">return</span> <span class="stringliteral">"BRUTE FORCE"</span>;</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordflow">case</span> kNNBruteForceGPU:</div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordflow">return</span> <span class="stringliteral">"BRUTE FORCE GPU"</span>;</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">case</span> kNNNanoFlannKdTree:</div>
|
||||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordflow">return</span> <span class="stringliteral">"NANOFLANN KD-TREE"</span>;</div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordflow">case</span> kNNFlannKdTreeSingle:</div>
|
||||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN KD-TREE SINGLE"</span>;</div>
|
||||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordflow">default</span>:</div>
|
||||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordflow">return</span> <span class="stringliteral">"Unknown"</span>;</div>
|
||||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> }</div>
|
||||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> }</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734"> 119</a></span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">VWDictionary</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d"> 126</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d">~VWDictionary</a>();</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81"> 132</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81">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="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5"> 140</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5">update</a>();</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> </div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841"> 156</a></span> <span class="keyword">virtual</span> std::list<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">addNewWords</a>(</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> cv::Mat & descriptors,</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> signatureId);</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59"> 166</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59">addWord</a>(<a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * vw);</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c"> 177</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c">findNN</a>(<span class="keyword">const</span> std::list<VisualWord *> & vws) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> </div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295"> 188</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295">findNN</a>(<span class="keyword">const</span> cv::Mat & descriptors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> </div>
|
||||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec"> 199</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec">addWordRef</a>(<span class="keywordtype">int</span> wordId, <span class="keywordtype">int</span> signatureId);</div>
|
||||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
|
||||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b"> 209</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">removeAllWordRef</a>(<span class="keywordtype">int</span> wordId, <span class="keywordtype">int</span> signatureId);</div>
|
||||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1"> 216</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1">getWord</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> </div>
|
||||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3"> 226</a></span> <a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3">getUnusedWord</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> </div>
|
||||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97"> 232</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97">setLastWordId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_lastWordId = id;}</div>
|
||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4"> 238</a></span> <span class="keyword">const</span> std::map<int, VisualWord *> & <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4">getVisualWords</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _visualWords;}</div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5"> 251</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">getNndrRatio</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nndrRatio;}</div>
|
||||
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
|
||||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734"> 132</a></span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">VWDictionary</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d"> 139</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d">~VWDictionary</a>();</div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
|
||||
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81"> 145</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81">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="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5"> 153</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5">update</a>();</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841"> 169</a></span> <span class="keyword">virtual</span> std::list<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">addNewWords</a>(</div>
|
||||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">const</span> cv::Mat & descriptors,</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">int</span> signatureId);</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59"> 179</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59">addWord</a>(<a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * vw);</div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> </div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c"> 190</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c">findNN</a>(<span class="keyword">const</span> std::list<VisualWord *> & vws) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295"> 201</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295">findNN</a>(<span class="keyword">const</span> cv::Mat & descriptors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> </div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec"> 212</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec">addWordRef</a>(<span class="keywordtype">int</span> wordId, <span class="keywordtype">int</span> signatureId);</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
|
||||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b"> 222</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">removeAllWordRef</a>(<span class="keywordtype">int</span> wordId, <span class="keywordtype">int</span> signatureId);</div>
|
||||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> </div>
|
||||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1"> 229</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1">getWord</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3"> 239</a></span> <a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3">getUnusedWord</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
|
||||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97"> 245</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97">setLastWordId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_lastWordId = id;}</div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4"> 251</a></span> <span class="keyword">const</span> std::map<int, VisualWord *> & <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4">getVisualWords</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _visualWords;}</div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8"> 257</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">getNotIndexedWordsCount</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (<span class="keywordtype">int</span>)_notIndexedWords.size();}</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> </div>
|
||||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da"> 263</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da">getLastIndexedWordId</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d"> 269</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d">getTotalActiveReferences</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _totalActiveReferences;}</div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> </div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c"> 275</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c">getIndexedWordsCount</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> </div>
|
||||
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576"> 281</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576">getIndexMemoryUsed</a>() <span class="keyword">const</span>; <span class="comment">// KB</span></div>
|
||||
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
|
||||
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307"> 287</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307">getMemoryUsed</a>() <span class="keyword">const</span>; <span class="comment">//Bytes</span></div>
|
||||
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
|
||||
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc"> 296</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc">setNNStrategy</a>(<a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> strategy);</div>
|
||||
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> </div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb"> 302</a></span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">getNNStrategy</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _strategy;}</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> </div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369"> 308</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369">isIncremental</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _incrementalDictionary;}</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> </div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998"> 314</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998">isIncrementalFlann</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _incrementalFlann;}</div>
|
||||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> </div>
|
||||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff"> 322</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff">setIncrementalDictionary</a>();</div>
|
||||
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> </div>
|
||||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a"> 332</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a">setFixedDictionary</a>(<span class="keyword">const</span> std::string & dictionaryPath);</div>
|
||||
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> </div>
|
||||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13"> 338</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13">isModified</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="comment">// Re-index all the words from scratch. The index then contains the words in</span></div>
|
||||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="comment">// the same order than the one built by update() on a dictionary freshly</span></div>
|
||||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="comment">// loaded from a database, which is required to serialize it (the serialized</span></div>
|
||||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="comment">// index is matched against the words in that order when deserialized).</span></div>
|
||||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordtype">void</span> rebuildIndex();</div>
|
||||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41"> 349</a></span> std::vector<unsigned char> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad"> 356</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad">deserializeIndex</a>(<span class="keyword">const</span> std::vector<unsigned char> & data);</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526"> 364</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526">deserializeIndex</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data, <span class="keywordtype">size_t</span> size);</div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> </div>
|
||||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8"> 373</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8">exportDictionary</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameReferences, <span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameDescriptors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> </div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351"> 381</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351">clear</a>(<span class="keywordtype">bool</span> printWarningsIfNotEmpty = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> </div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388"> 392</a></span> std::vector<VisualWord *> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">getUnusedWords</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
|
||||
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d"> 398</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">getUnusedWordIds</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> </div>
|
||||
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412"> 404</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412">getUnusedWordsSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (<span class="keywordtype">int</span>)_unusedWords.size();}</div>
|
||||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> </div>
|
||||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4"> 412</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">removeWords</a>(<span class="keyword">const</span> std::vector<VisualWord*> & words); <span class="comment">// caller must delete the words</span></div>
|
||||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> </div>
|
||||
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa"> 419</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa">deleteUnusedWords</a>();</div>
|
||||
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> </div>
|
||||
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e"> 433</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e">convertBinTo32F</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> </div>
|
||||
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c"> 447</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c">convert32FToBin</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
|
||||
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69"> 454</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69">getNextId</a>();</div>
|
||||
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> </div>
|
||||
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383"> 461</a></span> std::map<int, VisualWord *> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">_visualWords</a>; <span class="comment">//<id,VisualWord*></span></div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> </div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44"> 467</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">_totalActiveReferences</a>;</div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5"> 264</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">getNndrRatio</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nndrRatio;}</div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> </div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8"> 270</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">getNotIndexedWordsCount</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (<span class="keywordtype">int</span>)_notIndexedWords.size();}</div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> </div>
|
||||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da"> 276</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da">getLastIndexedWordId</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> </div>
|
||||
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d"> 282</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d">getTotalActiveReferences</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _totalActiveReferences;}</div>
|
||||
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div>
|
||||
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c"> 288</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c">getIndexedWordsCount</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> </div>
|
||||
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576"> 294</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576">getIndexMemoryUsed</a>() <span class="keyword">const</span>; <span class="comment">// KB</span></div>
|
||||
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
|
||||
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307"> 300</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307">getMemoryUsed</a>() <span class="keyword">const</span>; <span class="comment">//Bytes</span></div>
|
||||
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> </div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc"> 309</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc">setNNStrategy</a>(<a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> strategy);</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> </div>
|
||||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb"> 315</a></span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">getNNStrategy</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _strategy;}</div>
|
||||
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> </div>
|
||||
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369"> 321</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369">isIncremental</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _incrementalDictionary;}</div>
|
||||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> </div>
|
||||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998"> 327</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998">isIncrementalFlann</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _incrementalFlann;}</div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> </div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff"> 335</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff">setIncrementalDictionary</a>();</div>
|
||||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> </div>
|
||||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a"> 345</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a">setFixedDictionary</a>(<span class="keyword">const</span> std::string & dictionaryPath);</div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> </div>
|
||||
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13"> 351</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13">isModified</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="comment">// Re-index all the words from scratch. The index then contains the words in</span></div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="comment">// the same order than the one built by update() on a dictionary freshly</span></div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="comment">// loaded from a database, which is required to serialize it (the serialized</span></div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="comment">// index is matched against the words in that order when deserialized).</span></div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordtype">void</span> rebuildIndex();</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41"> 362</a></span> std::vector<unsigned char> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> </div>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad"> 369</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad">deserializeIndex</a>(<span class="keyword">const</span> std::vector<unsigned char> & data);</div>
|
||||
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> </div>
|
||||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526"> 377</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526">deserializeIndex</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data, <span class="keywordtype">size_t</span> size);</div>
|
||||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> </div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8"> 386</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8">exportDictionary</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameReferences, <span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameDescriptors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> </div>
|
||||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351"> 394</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351">clear</a>(<span class="keywordtype">bool</span> printWarningsIfNotEmpty = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> </div>
|
||||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388"> 405</a></span> std::vector<VisualWord *> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">getUnusedWords</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> </div>
|
||||
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d"> 411</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">getUnusedWordIds</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> </div>
|
||||
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412"> 417</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412">getUnusedWordsSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (<span class="keywordtype">int</span>)_unusedWords.size();}</div>
|
||||
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> </div>
|
||||
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4"> 425</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">removeWords</a>(<span class="keyword">const</span> std::vector<VisualWord*> & words); <span class="comment">// caller must delete the words</span></div>
|
||||
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> </div>
|
||||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa"> 432</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa">deleteUnusedWords</a>();</div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> </div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e"> 446</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e">convertBinTo32F</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> </div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c"> 460</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c">convert32FToBin</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> </div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69"> 467</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69">getNextId</a>();</div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <span class="keywordtype">bool</span> _incrementalDictionary;</div>
|
||||
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> </div>
|
||||
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keywordtype">bool</span> _incrementalFlann;</div>
|
||||
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> </div>
|
||||
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">float</span> _rebalancingFactor;</div>
|
||||
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> </div>
|
||||
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keywordtype">bool</span> _byteToFloat;</div>
|
||||
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> </div>
|
||||
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <span class="keywordtype">float</span> _nndrRatio;</div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383"> 474</a></span> std::map<int, VisualWord *> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">_visualWords</a>; <span class="comment">//<id,VisualWord*></span></div>
|
||||
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> </div>
|
||||
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44"> 480</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">_totalActiveReferences</a>;</div>
|
||||
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> </div>
|
||||
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="keywordtype">bool</span> _incrementalDictionary;</div>
|
||||
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> </div>
|
||||
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">bool</span> _incrementalFlann;</div>
|
||||
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> </div>
|
||||
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <span class="keywordtype">float</span> _rebalancingFactor;</div>
|
||||
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> </div>
|
||||
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> std::string _dictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</span></div>
|
||||
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keywordtype">bool</span> _byteToFloat;</div>
|
||||
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> </div>
|
||||
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> std::string _newDictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</span></div>
|
||||
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> </div>
|
||||
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keywordtype">bool</span> _newWordsComparedTogether;</div>
|
||||
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> </div>
|
||||
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> <span class="keywordtype">bool</span> _serializeWithChecksum;</div>
|
||||
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> </div>
|
||||
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keywordtype">int</span> _lastWordId;</div>
|
||||
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> </div>
|
||||
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <span class="keywordtype">bool</span> useDistanceL1_;</div>
|
||||
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> </div>
|
||||
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a> * _flannIndex;</div>
|
||||
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> </div>
|
||||
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> cv::Mat _dataTree;</div>
|
||||
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> </div>
|
||||
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordtype">bool</span> _modified;</div>
|
||||
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> </div>
|
||||
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> _strategy;</div>
|
||||
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> </div>
|
||||
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> std::map<int ,int> _mapIndexId;</div>
|
||||
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
|
||||
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> std::map<int ,int> _mapIdIndex;</div>
|
||||
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> </div>
|
||||
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> std::map<int, VisualWord*> _unusedWords; <span class="comment">//<id,VisualWord*></span></div>
|
||||
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> std::set<int> _notIndexedWords;</div>
|
||||
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> </div>
|
||||
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> std::set<int> _removedIndexedWords;</div>
|
||||
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span>};</div>
|
||||
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <span class="keywordtype">float</span> _nndrRatio;</div>
|
||||
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> </div>
|
||||
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> std::string _dictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</span></div>
|
||||
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> </div>
|
||||
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> std::string _newDictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</span></div>
|
||||
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> </div>
|
||||
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keywordtype">bool</span> _newWordsComparedTogether;</div>
|
||||
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> </div>
|
||||
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> <span class="keywordtype">bool</span> _serializeWithChecksum;</div>
|
||||
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> </div>
|
||||
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <span class="keywordtype">int</span> _lastWordId;</div>
|
||||
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> </div>
|
||||
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <span class="keywordtype">bool</span> useDistanceL1_;</div>
|
||||
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> </div>
|
||||
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a> * _flannIndex;</div>
|
||||
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> </div>
|
||||
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> cv::Mat _dataTree;</div>
|
||||
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> </div>
|
||||
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> <span class="keywordtype">bool</span> _modified;</div>
|
||||
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> </div>
|
||||
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> _strategy;</div>
|
||||
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> </div>
|
||||
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> std::map<int ,int> _mapIndexId;</div>
|
||||
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> </div>
|
||||
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> std::map<int ,int> _mapIdIndex;</div>
|
||||
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> </div>
|
||||
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> std::map<int, VisualWord*> _unusedWords; <span class="comment">//<id,VisualWord*></span></div>
|
||||
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> std::set<int> _notIndexedWords;</div>
|
||||
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> </div>
|
||||
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> std::set<int> _removedIndexedWords;</div>
|
||||
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> </div>
|
||||
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00037">FlannIndex.h:38</a></div></div>
|
||||
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> </div>
|
||||
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdoc">Nearest neighbor index over a set of features.</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00055">FlannIndex.h:56</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></div><div class="ttdoc">Manages a dictionary of visual words for visual place recognition and loop closure detection.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00065">VWDictionary.h:66</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a085d69ef577600000f397bd63abeaf69"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69">rtabmap::VWDictionary::getNextId</a></div><div class="ttdeci">int getNextId()</div><div class="ttdoc">Get the next available visual word ID.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a0a29d849a7c2b626407f453e5cb4b526"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526">rtabmap::VWDictionary::deserializeIndex</a></div><div class="ttdeci">bool deserializeIndex(const unsigned char *data, size_t size)</div><div class="ttdoc">Deserialize the search index from raw bytes.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a117282f59ed918808d8116cd1f92f412"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412">rtabmap::VWDictionary::getUnusedWordsSize</a></div><div class="ttdeci">unsigned int getUnusedWordsSize() const</div><div class="ttdoc">Get the count of unused visual words.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00404">VWDictionary.h:404</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a117282f59ed918808d8116cd1f92f412"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412">rtabmap::VWDictionary::getUnusedWordsSize</a></div><div class="ttdeci">unsigned int getUnusedWordsSize() const</div><div class="ttdoc">Get the count of unused visual words.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00417">VWDictionary.h:417</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a1ba7cb31f8658980849ffd9ce76b3cb8"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8">rtabmap::VWDictionary::exportDictionary</a></div><div class="ttdeci">void exportDictionary(const char *fileNameReferences, const char *fileNameDescriptors) const</div><div class="ttdoc">Export the dictionary to files.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a2864c406b3792dbfb7c8c334b6e44d41"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">rtabmap::VWDictionary::serializeIndex</a></div><div class="ttdeci">std::vector< unsigned char > serializeIndex() const</div><div class="ttdoc">Serialize the search index to a byte vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a293c09f00caf84bb991d73983a5f22c8"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">rtabmap::VWDictionary::getNotIndexedWordsCount</a></div><div class="ttdeci">unsigned int getNotIndexedWordsCount() const</div><div class="ttdoc">Get the count of words not yet indexed in the search tree.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00257">VWDictionary.h:257</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a293c09f00caf84bb991d73983a5f22c8"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">rtabmap::VWDictionary::getNotIndexedWordsCount</a></div><div class="ttdeci">unsigned int getNotIndexedWordsCount() const</div><div class="ttdoc">Get the count of words not yet indexed in the search tree.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00270">VWDictionary.h:270</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a2998a6b11e102a2253ac592acf076841"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">rtabmap::VWDictionary::addNewWords</a></div><div class="ttdeci">virtual std::list< int > addNewWords(const cv::Mat &descriptors, int signatureId)</div><div class="ttdoc">Add new visual words from descriptors.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a2dbfec55a8921f52b642bf0dceea0c37"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37">rtabmap::VWDictionary::ID_START</a></div><div class="ttdeci">static const int ID_START</div><div class="ttdoc">Starting ID for visual words (typically 1)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00084">VWDictionary.h:84</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a2dbfec55a8921f52b642bf0dceea0c37"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37">rtabmap::VWDictionary::ID_START</a></div><div class="ttdeci">static const int ID_START</div><div class="ttdoc">Starting ID for visual words (typically 1)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00091">VWDictionary.h:91</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a33c8904edf3d0af65dfd2a6d817416fa"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa">rtabmap::VWDictionary::deleteUnusedWords</a></div><div class="ttdeci">void deleteUnusedWords()</div><div class="ttdoc">Delete all unused visual words.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a3af1cce90b50dcb0f9dcd77e1fb08aad"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad">rtabmap::VWDictionary::deserializeIndex</a></div><div class="ttdeci">bool deserializeIndex(const std::vector< unsigned char > &data)</div><div class="ttdoc">Deserialize the search index from a byte vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a454639bff3d95b2f9dd346413981d5c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">rtabmap::VWDictionary::getNndrRatio</a></div><div class="ttdeci">float getNndrRatio() const</div><div class="ttdoc">Get the Nearest Neighbor Distance Ratio (NNDR) threshold.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00251">VWDictionary.h:251</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5222c6a21307f0e4b9346c87db166b44"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">rtabmap::VWDictionary::_totalActiveReferences</a></div><div class="ttdeci">int _totalActiveReferences</div><div class="ttdoc">Total count of active word-to-signature references.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00467">VWDictionary.h:467</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a454639bff3d95b2f9dd346413981d5c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">rtabmap::VWDictionary::getNndrRatio</a></div><div class="ttdeci">float getNndrRatio() const</div><div class="ttdoc">Get the Nearest Neighbor Distance Ratio (NNDR) threshold.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00264">VWDictionary.h:264</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5222c6a21307f0e4b9346c87db166b44"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">rtabmap::VWDictionary::_totalActiveReferences</a></div><div class="ttdeci">int _totalActiveReferences</div><div class="ttdoc">Total count of active word-to-signature references.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00480">VWDictionary.h:480</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a566aaf19cdc098587e88393e4140b351"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351">rtabmap::VWDictionary::clear</a></div><div class="ttdeci">void clear(bool printWarningsIfNotEmpty=true)</div><div class="ttdoc">Clear all visual words and reset the dictionary.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5cf9981cf11f8f93280b7d0c195159e1"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1">rtabmap::VWDictionary::getWord</a></div><div class="ttdeci">const VisualWord * getWord(int id) const</div><div class="ttdoc">Get a visual word by ID.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5f3712744b9f7beb5da186a842f7d74a"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a">rtabmap::VWDictionary::setFixedDictionary</a></div><div class="ttdeci">void setFixedDictionary(const std::string &dictionaryPath)</div><div class="ttdoc">Set the dictionary to fixed mode and load from file.</div></div>
|
||||
@@ -355,26 +363,28 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
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||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a64b0aee7f33cbd4df26e2d0c14329e9d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">rtabmap::VWDictionary::getUnusedWordIds</a></div><div class="ttdeci">std::vector< int > getUnusedWordIds() const</div><div class="ttdoc">Get IDs of all unused visual words.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a65a99ae457b1c779233de57d190ca8da"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da">rtabmap::VWDictionary::getLastIndexedWordId</a></div><div class="ttdeci">int getLastIndexedWordId() const</div><div class="ttdoc">Get the ID of the last indexed word.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a6a0610e87964c3881dc70cae6cd9123c"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c">rtabmap::VWDictionary::getIndexedWordsCount</a></div><div class="ttdeci">unsigned int getIndexedWordsCount() const</div><div class="ttdoc">Get the count of words currently indexed in the search tree.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a6bcad4c04999469001b5ac03b8a61ab4"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4">rtabmap::VWDictionary::getVisualWords</a></div><div class="ttdeci">const std::map< int, VisualWord * > & getVisualWords() const</div><div class="ttdoc">Get all visual words.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00238">VWDictionary.h:238</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a706e209f6228c02730dd8ea501ab5369"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369">rtabmap::VWDictionary::isIncremental</a></div><div class="ttdeci">bool isIncremental() const</div><div class="ttdoc">Check if the dictionary is in incremental mode.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00308">VWDictionary.h:308</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a7092a6a6af93772ce89793c5e54a17cc"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">rtabmap::VWDictionary::nnStrategyName</a></div><div class="ttdeci">static std::string nnStrategyName(NNStrategy strategy)</div><div class="ttdoc">Get the name of a nearest neighbor strategy.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00096">VWDictionary.h:96</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a6bcad4c04999469001b5ac03b8a61ab4"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4">rtabmap::VWDictionary::getVisualWords</a></div><div class="ttdeci">const std::map< int, VisualWord * > & getVisualWords() const</div><div class="ttdoc">Get all visual words.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00251">VWDictionary.h:251</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a706e209f6228c02730dd8ea501ab5369"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369">rtabmap::VWDictionary::isIncremental</a></div><div class="ttdeci">bool isIncremental() const</div><div class="ttdoc">Check if the dictionary is in incremental mode.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00321">VWDictionary.h:321</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a7092a6a6af93772ce89793c5e54a17cc"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">rtabmap::VWDictionary::nnStrategyName</a></div><div class="ttdeci">static std::string nnStrategyName(NNStrategy strategy)</div><div class="ttdoc">Get the name of a nearest neighbor strategy.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00103">VWDictionary.h:103</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a70aec2b9d1bf55d47192949aa728448e"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e">rtabmap::VWDictionary::convertBinTo32F</a></div><div class="ttdeci">static cv::Mat convertBinTo32F(const cv::Mat &descriptorsIn, bool byteToFloat=true)</div><div class="ttdoc">Convert binary descriptors to 32-bit float format.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a7a506e15bf83d16cc98aaa34057216f4"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">rtabmap::VWDictionary::removeWords</a></div><div class="ttdeci">void removeWords(const std::vector< VisualWord * > &words)</div><div class="ttdoc">Remove words from the dictionary.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a83b1966a141848baeec5112c30bacf0f"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f">rtabmap::VWDictionary::ID_INVALID</a></div><div class="ttdeci">static const int ID_INVALID</div><div class="ttdoc">Invalid visual word ID (typically 0)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00089">VWDictionary.h:89</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a83b1966a141848baeec5112c30bacf0f"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f">rtabmap::VWDictionary::ID_INVALID</a></div><div class="ttdeci">static const int ID_INVALID</div><div class="ttdoc">Invalid visual word ID (typically 0)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00096">VWDictionary.h:96</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a844ae27eb6d1f0674c8f7777451812c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5">rtabmap::VWDictionary::update</a></div><div class="ttdeci">virtual void update()</div><div class="ttdoc">Update the search index with newly added words.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a89893faef6c96e3b19bfeab86094af81"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81">rtabmap::VWDictionary::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &parameters)</div><div class="ttdoc">Parse and apply parameters from a parameters map.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">rtabmap::VWDictionary::NNStrategy</a></div><div class="ttdeci">NNStrategy</div><div class="ttdoc">Nearest neighbor search strategies for descriptor matching.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00072">VWDictionary.h:72</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">rtabmap::VWDictionary::kNNBruteForce</a></div><div class="ttdeci">@ kNNBruteForce</div><div class="ttdoc">Brute force CPU search.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00076">VWDictionary.h:76</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">rtabmap::VWDictionary::kNNBruteForceGPU</a></div><div class="ttdeci">@ kNNBruteForceGPU</div><div class="ttdoc">Brute force GPU-accelerated search (requires CUDA)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00077">VWDictionary.h:77</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">rtabmap::VWDictionary::kNNFlannLSH</a></div><div class="ttdeci">@ kNNFlannLSH</div><div class="ttdoc">FLANN Locality-Sensitive Hashing (ideal for binary descriptors)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00075">VWDictionary.h:75</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">rtabmap::VWDictionary::kNNFlannKdTree</a></div><div class="ttdeci">@ kNNFlannKdTree</div><div class="ttdoc">FLANN kd-tree index (fast for high-dimensional descriptors)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00074">VWDictionary.h:74</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">rtabmap::VWDictionary::kNNFlannNaive</a></div><div class="ttdeci">@ kNNFlannNaive</div><div class="ttdoc">FLANN naive search (exhaustive)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00073">VWDictionary.h:73</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a98447a880fdcf91709f00d00cfd4e54d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d">rtabmap::VWDictionary::getTotalActiveReferences</a></div><div class="ttdeci">int getTotalActiveReferences() const</div><div class="ttdoc">Get the total number of active word-to-signature references.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00269">VWDictionary.h:269</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9f016aa45f3b3d5618d104fb799ca998"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998">rtabmap::VWDictionary::isIncrementalFlann</a></div><div class="ttdeci">bool isIncrementalFlann() const</div><div class="ttdoc">Check if FLANN index is updated incrementally.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00314">VWDictionary.h:314</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">rtabmap::VWDictionary::NNStrategy</a></div><div class="ttdeci">NNStrategy</div><div class="ttdoc">Nearest neighbor search strategies for descriptor matching.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00077">VWDictionary.h:77</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">rtabmap::VWDictionary::kNNBruteForce</a></div><div class="ttdeci">@ kNNBruteForce</div><div class="ttdoc">Brute force CPU search.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00081">VWDictionary.h:81</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7">rtabmap::VWDictionary::kNNNanoFlannKdTree</a></div><div class="ttdeci">@ kNNNanoFlannKdTree</div><div class="ttdoc">nanoflann kd-tree index (float descriptors only, incremental)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00084">VWDictionary.h:84</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">rtabmap::VWDictionary::kNNBruteForceGPU</a></div><div class="ttdeci">@ kNNBruteForceGPU</div><div class="ttdoc">Brute force GPU-accelerated search (requires CUDA)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00082">VWDictionary.h:82</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">rtabmap::VWDictionary::kNNFlannLSH</a></div><div class="ttdeci">@ kNNFlannLSH</div><div class="ttdoc">FLANN Locality-Sensitive Hashing (ideal for binary descriptors)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00080">VWDictionary.h:80</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1">rtabmap::VWDictionary::kNNFlannKdTreeSingle</a></div><div class="ttdeci">@ kNNFlannKdTreeSingle</div><div class="ttdoc">FLANN single exact kd-tree index (rebuilt whenever a word is added, for an index built once)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00083">VWDictionary.h:83</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">rtabmap::VWDictionary::kNNFlannKdTree</a></div><div class="ttdeci">@ kNNFlannKdTree</div><div class="ttdoc">FLANN kd-tree index (fast for high-dimensional descriptors)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00079">VWDictionary.h:79</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">rtabmap::VWDictionary::kNNFlannNaive</a></div><div class="ttdeci">@ kNNFlannNaive</div><div class="ttdoc">FLANN naive search (exhaustive)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00078">VWDictionary.h:78</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a98447a880fdcf91709f00d00cfd4e54d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d">rtabmap::VWDictionary::getTotalActiveReferences</a></div><div class="ttdeci">int getTotalActiveReferences() const</div><div class="ttdoc">Get the total number of active word-to-signature references.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00282">VWDictionary.h:282</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9f016aa45f3b3d5618d104fb799ca998"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998">rtabmap::VWDictionary::isIncrementalFlann</a></div><div class="ttdeci">bool isIncrementalFlann() const</div><div class="ttdoc">Check if FLANN index is updated incrementally.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00327">VWDictionary.h:327</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_aa0bcdf4002305d36bb072c019d475f13"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13">rtabmap::VWDictionary::isModified</a></div><div class="ttdeci">bool isModified() const</div><div class="ttdoc">Check if the dictionary has been modified since last save.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_aada11cf01b586ac8205f8bff0b1ab295"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295">rtabmap::VWDictionary::findNN</a></div><div class="ttdeci">std::vector< int > findNN(const cv::Mat &descriptors) const</div><div class="ttdoc">Find nearest neighbor visual word IDs for descriptors.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ab14ef6e8fb979dce23f9a40a1faf8dff"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff">rtabmap::VWDictionary::setIncrementalDictionary</a></div><div class="ttdeci">void setIncrementalDictionary()</div><div class="ttdoc">Set the dictionary to incremental mode.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ab1ec0db96328164864953f25d463bcbb"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">rtabmap::VWDictionary::getNNStrategy</a></div><div class="ttdeci">NNStrategy getNNStrategy() const</div><div class="ttdoc">Get the current nearest neighbor search strategy.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00302">VWDictionary.h:302</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ab1ec0db96328164864953f25d463bcbb"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">rtabmap::VWDictionary::getNNStrategy</a></div><div class="ttdeci">NNStrategy getNNStrategy() const</div><div class="ttdoc">Get the current nearest neighbor search strategy.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00315">VWDictionary.h:315</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ab47b5ecb12c822474004f0ad77dbb388"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">rtabmap::VWDictionary::getUnusedWords</a></div><div class="ttdeci">std::vector< VisualWord * > getUnusedWords() const</div><div class="ttdoc">Get all unused visual words.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_abbd007a028847ecbbdd50e3480ba95e3"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3">rtabmap::VWDictionary::getUnusedWord</a></div><div class="ttdeci">VisualWord * getUnusedWord(int id) const</div><div class="ttdoc">Get an unused visual word by ID.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ac2f21a98b70e91ab2e8a07151c508d1c"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c">rtabmap::VWDictionary::findNN</a></div><div class="ttdeci">std::vector< int > findNN(const std::list< VisualWord * > &vws) const</div><div class="ttdoc">Find nearest neighbor visual word IDs for a list of visual words.</div></div>
|
||||
@@ -383,9 +393,9 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_acda9d98e4ad4897ce8a8b945f396221c"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c">rtabmap::VWDictionary::convert32FToBin</a></div><div class="ttdeci">static cv::Mat convert32FToBin(const cv::Mat &descriptorsIn, bool byteToFloat=true)</div><div class="ttdoc">Convert 32-bit float descriptors to binary format.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ad464ad961b0e4d4cd6dd7895e9ff3d59"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59">rtabmap::VWDictionary::addWord</a></div><div class="ttdeci">virtual void addWord(VisualWord *vw)</div><div class="ttdoc">Add an existing visual word to the dictionary.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ada3980b520d8411a1ebb3ce14e2f8734"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">rtabmap::VWDictionary::VWDictionary</a></div><div class="ttdeci">VWDictionary(const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Constructor.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_adcb4739e09e27b20125880e9d3026383"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">rtabmap::VWDictionary::_visualWords</a></div><div class="ttdeci">std::map< int, VisualWord * > _visualWords</div><div class="ttdoc">Map of visual word ID to VisualWord pointer.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00461">VWDictionary.h:461</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_adcb4739e09e27b20125880e9d3026383"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">rtabmap::VWDictionary::_visualWords</a></div><div class="ttdeci">std::map< int, VisualWord * > _visualWords</div><div class="ttdoc">Map of visual word ID to VisualWord pointer.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00474">VWDictionary.h:474</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_aea2f0d043d043df37258dc225c62edec"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec">rtabmap::VWDictionary::addWordRef</a></div><div class="ttdeci">bool addWordRef(int wordId, int signatureId)</div><div class="ttdoc">Add a reference from a visual word to a signature.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_af0b676e13c7dba437147520335289e97"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97">rtabmap::VWDictionary::setLastWordId</a></div><div class="ttdeci">void setLastWordId(int id)</div><div class="ttdoc">Set the last word ID (used when loading from database)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00232">VWDictionary.h:232</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_af0b676e13c7dba437147520335289e97"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97">rtabmap::VWDictionary::setLastWordId</a></div><div class="ttdeci">void setLastWordId(int id)</div><div class="ttdoc">Set the last word ID (used when loading from database)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00245">VWDictionary.h:245</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_af60e271facb40ff668c4bc24cff1b9cc"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc">rtabmap::VWDictionary::setNNStrategy</a></div><div class="ttdeci">bool setNNStrategy(NNStrategy strategy)</div><div class="ttdoc">Set the nearest neighbor search strategy.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_af7f669f103368e30e31a028efbcac89d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d">rtabmap::VWDictionary::~VWDictionary</a></div><div class="ttdeci">virtual ~VWDictionary()</div><div class="ttdoc">Destructor.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html">rtabmap::VisualWord</a></div><div class="ttdoc">Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00049">VisualWord.h:50</a></div></div>
|
||||
|
||||
@@ -150,7 +150,7 @@ $(document).ready(function(){initNavTree('annotated.html',''); initResizable();
|
||||
<tr id="row_1_37_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FAST__FREAK.html" target="_self">FAST_FREAK</a></td><td class="desc"><a class="el" href="classrtabmap_1_1FAST.html" title="FAST corner detector only (no descriptor).">FAST</a> corners + FREAK descriptors </td></tr>
|
||||
<tr id="row_1_38_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1Feature2D.html" target="_self">Feature2D</a></td><td class="desc">Abstract 2D feature detector and descriptor extractor for visual SLAM </td></tr>
|
||||
<tr id="row_1_39_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FeatureBA.html" target="_self">FeatureBA</a></td><td class="desc">A single bundle adjustment feature observation: one keypoint seen in one frame </td></tr>
|
||||
<tr id="row_1_40_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FlannIndex.html" target="_self">FlannIndex</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_1_40_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FlannIndex.html" target="_self">FlannIndex</a></td><td class="desc">Nearest neighbor index over a set of features </td></tr>
|
||||
<tr id="row_1_41_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GainCompensator.html" target="_self">GainCompensator</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_1_42_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GeodeticCoords.html" target="_self">GeodeticCoords</a></td><td class="desc">WGS84 geodetic latitude, longitude and altitude with coordinate conversions </td></tr>
|
||||
<tr id="row_1_43_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GFTT.html" target="_self">GFTT</a></td><td class="desc">Good-features-to-track detector (Shi–Tomasi / Harris) </td></tr>
|
||||
|
||||
@@ -49,7 +49,7 @@ var annotated_dup =
|
||||
[ "FAST_FREAK", "classrtabmap_1_1FAST__FREAK.html", null ],
|
||||
[ "Feature2D", "classrtabmap_1_1Feature2D.html", "classrtabmap_1_1Feature2D" ],
|
||||
[ "FeatureBA", "classrtabmap_1_1FeatureBA.html", "classrtabmap_1_1FeatureBA" ],
|
||||
[ "FlannIndex", "classrtabmap_1_1FlannIndex.html", null ],
|
||||
[ "FlannIndex", "classrtabmap_1_1FlannIndex.html", "classrtabmap_1_1FlannIndex" ],
|
||||
[ "GainCompensator", "classrtabmap_1_1GainCompensator.html", null ],
|
||||
[ "GeodeticCoords", "classrtabmap_1_1GeodeticCoords.html", "classrtabmap_1_1GeodeticCoords" ],
|
||||
[ "GFTT", "classrtabmap_1_1GFTT.html", "classrtabmap_1_1GFTT" ],
|
||||
|
||||
@@ -104,27 +104,28 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1FlannIndex.html','');
|
||||
|
||||
<p>This is the complete list of members for <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>, including all inherited members.</p>
|
||||
<table class="directory">
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>addPoints</b>(const cv::Mat &features) (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>buildIndex</b>(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f) (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>featuresDim</b>() const (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>featuresType</b>() const (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>flann_algorithm_t</b> enum name (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FLANN_INDEX_KDTREE</b> enum value (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FLANN_INDEX_KDTREE_SINGLE</b> enum value (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FLANN_INDEX_LINEAR</b> enum value (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FLANN_INDEX_LSH</b> enum value (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">addPoints</a>(const cv::Mat &features)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">buildIndex</a>(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">featuresDim</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">featuresType</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> enum name</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d">FLANN_INDEX_KDTREE</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081">FLANN_INDEX_KDTREE_SINGLE</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818">FLANN_INDEX_LINEAR</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8">FLANN_INDEX_LSH</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FlannIndex</b>() (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>indexedFeatures</b>() const (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>isBuilt</b>() (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>knnSearch</b>(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>loadIndex</b>(const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL) (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>loadIndex</b>(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL) (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>memoryUsed</b>() const (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>radiusSearch</b>(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>release</b>() (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>removePoint</b>(unsigned int index) (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>serializeIndex</b>(bool computeChecksum=true) const (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~FlannIndex</b>() (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">indexedFeatures</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">isBuilt</a>()</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">knnSearch</a>(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">loadIndex</a>(const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e">loadIndex</a>(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">memoryUsed</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3">NANOFLANN_INDEX_KDTREE_SINGLE</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">radiusSearch</a>(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">release</a>()</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">removePoint</a>(unsigned int index)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">serializeIndex</a>(bool computeChecksum=true) const</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>~FlannIndex</b>() (defined in <a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
|
||||
</table></div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
|
||||
@@ -105,62 +105,74 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1FlannIndex.html','');
|
||||
<div class="headertitle"><div class="title">rtabmap::FlannIndex Class Reference</div></div>
|
||||
</div><!--header-->
|
||||
<div class="contents">
|
||||
|
||||
<p>Nearest neighbor index over a set of features.
|
||||
<a href="classrtabmap_1_1FlannIndex.html#details">More...</a></p>
|
||||
|
||||
<p><code>#include <<a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>></code></p>
|
||||
<table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
|
||||
Public Types</h2></td></tr>
|
||||
<tr class="memitem:a88ddfe63de9e9f574ac804ade460f010" id="r_a88ddfe63de9e9f574ac804ade460f010"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><b>flann_algorithm_t</b> { <b>FLANN_INDEX_LINEAR</b> = 0
|
||||
, <b>FLANN_INDEX_KDTREE</b> = 1
|
||||
, <b>FLANN_INDEX_KDTREE_SINGLE</b> = 4
|
||||
, <b>FLANN_INDEX_LSH</b> = 6
|
||||
<tr class="memitem:a88ddfe63de9e9f574ac804ade460f010" id="r_a88ddfe63de9e9f574ac804ade460f010"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> { <br />
|
||||
  <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818">FLANN_INDEX_LINEAR</a> = 0
|
||||
, <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d">FLANN_INDEX_KDTREE</a> = 1
|
||||
, <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081">FLANN_INDEX_KDTREE_SINGLE</a> = 4
|
||||
, <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8">FLANN_INDEX_LSH</a> = 6
|
||||
, <br />
|
||||
  <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3">NANOFLANN_INDEX_KDTREE_SINGLE</a> = 100
|
||||
<br />
|
||||
}</td></tr>
|
||||
<tr class="memdesc:a88ddfe63de9e9f574ac804ade460f010"><td class="mdescLeft"> </td><td class="mdescRight">The index structure built by <a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521" title="Build the index over the given features, releasing any previous one.">buildIndex()</a> <a href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">More...</a><br /></td></tr>
|
||||
<tr class="separator:a88ddfe63de9e9f574ac804ade460f010"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table><table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
|
||||
Public Member Functions</h2></td></tr>
|
||||
<tr class="memitem:a6eb4692afb561932aa6a20f7ebdee6c4" id="r_a6eb4692afb561932aa6a20f7ebdee6c4"><td class="memItemLeft" align="right" valign="top"><a id="a6eb4692afb561932aa6a20f7ebdee6c4" name="a6eb4692afb561932aa6a20f7ebdee6c4"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>release</b> ()</td></tr>
|
||||
<tr class="memdesc:a6eb4692afb561932aa6a20f7ebdee6c4"><td class="mdescLeft"> </td><td class="mdescRight">Drop the index and everything it holds, back to the state of a new one. <br /></td></tr>
|
||||
<tr class="separator:a6eb4692afb561932aa6a20f7ebdee6c4"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a1f2bf8718a75aa0b5dded8c287293c23" id="r_a1f2bf8718a75aa0b5dded8c287293c23"><td class="memItemLeft" align="right" valign="top"><a id="a1f2bf8718a75aa0b5dded8c287293c23" name="a1f2bf8718a75aa0b5dded8c287293c23"></a>
|
||||
std::vector< unsigned char > </td><td class="memItemRight" valign="bottom"><b>serializeIndex</b> (bool computeChecksum=true) const</td></tr>
|
||||
<tr class="memitem:a1f2bf8718a75aa0b5dded8c287293c23" id="r_a1f2bf8718a75aa0b5dded8c287293c23"><td class="memItemLeft" align="right" valign="top">std::vector< unsigned char > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">serializeIndex</a> (bool computeChecksum=true) const</td></tr>
|
||||
<tr class="memdesc:a1f2bf8718a75aa0b5dded8c287293c23"><td class="mdescLeft"> </td><td class="mdescRight">Serialize the index, to be given back to <a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b" title="Load an index serialized by serializeIndex(), releasing any previous one.">loadIndex()</a> <br /></td></tr>
|
||||
<tr class="separator:a1f2bf8718a75aa0b5dded8c287293c23"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a759817fbddaf8c6bdb04ba0a44e9847a" id="r_a759817fbddaf8c6bdb04ba0a44e9847a"><td class="memItemLeft" align="right" valign="top"><a id="a759817fbddaf8c6bdb04ba0a44e9847a" name="a759817fbddaf8c6bdb04ba0a44e9847a"></a>
|
||||
size_t </td><td class="memItemRight" valign="bottom"><b>indexedFeatures</b> () const</td></tr>
|
||||
<tr class="memitem:a759817fbddaf8c6bdb04ba0a44e9847a" id="r_a759817fbddaf8c6bdb04ba0a44e9847a"><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">indexedFeatures</a> () const</td></tr>
|
||||
<tr class="separator:a759817fbddaf8c6bdb04ba0a44e9847a"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a5a2eed18fe1216142d09c05243e9d06f" id="r_a5a2eed18fe1216142d09c05243e9d06f"><td class="memItemLeft" align="right" valign="top"><a id="a5a2eed18fe1216142d09c05243e9d06f" name="a5a2eed18fe1216142d09c05243e9d06f"></a>
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||||
size_t </td><td class="memItemRight" valign="bottom"><b>memoryUsed</b> () const</td></tr>
|
||||
<tr class="memitem:a5a2eed18fe1216142d09c05243e9d06f" id="r_a5a2eed18fe1216142d09c05243e9d06f"><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">memoryUsed</a> () const</td></tr>
|
||||
<tr class="separator:a5a2eed18fe1216142d09c05243e9d06f"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:aad2f29314c6b021d1c53217a7a041521" id="r_aad2f29314c6b021d1c53217a7a041521"><td class="memItemLeft" align="right" valign="top"><a id="aad2f29314c6b021d1c53217a7a041521" name="aad2f29314c6b021d1c53217a7a041521"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>buildIndex</b> (flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)</td></tr>
|
||||
<tr class="memitem:aad2f29314c6b021d1c53217a7a041521" id="r_aad2f29314c6b021d1c53217a7a041521"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">buildIndex</a> (<a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)</td></tr>
|
||||
<tr class="memdesc:aad2f29314c6b021d1c53217a7a041521"><td class="mdescLeft"> </td><td class="mdescRight">Build the index over the given features, releasing any previous one. <br /></td></tr>
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||||
<tr class="separator:aad2f29314c6b021d1c53217a7a041521"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a826b3a33e22f455f04688df9d0d25b0b" id="r_a826b3a33e22f455f04688df9d0d25b0b"><td class="memItemLeft" align="right" valign="top"><a id="a826b3a33e22f455f04688df9d0d25b0b" name="a826b3a33e22f455f04688df9d0d25b0b"></a>
|
||||
bool </td><td class="memItemRight" valign="bottom"><b>loadIndex</b> (const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</td></tr>
|
||||
<tr class="memitem:a826b3a33e22f455f04688df9d0d25b0b" id="r_a826b3a33e22f455f04688df9d0d25b0b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">loadIndex</a> (const std::vector< unsigned char > &indexData, <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</td></tr>
|
||||
<tr class="memdesc:a826b3a33e22f455f04688df9d0d25b0b"><td class="mdescLeft"> </td><td class="mdescRight">Load an index serialized by <a class="el" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23" title="Serialize the index, to be given back to loadIndex()">serializeIndex()</a>, releasing any previous one. <br /></td></tr>
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<tr class="separator:a826b3a33e22f455f04688df9d0d25b0b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a028eac4aeef64d62b9edea1f7b38a71e" id="r_a028eac4aeef64d62b9edea1f7b38a71e"><td class="memItemLeft" align="right" valign="top"><a id="a028eac4aeef64d62b9edea1f7b38a71e" name="a028eac4aeef64d62b9edea1f7b38a71e"></a>
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||||
bool </td><td class="memItemRight" valign="bottom"><b>loadIndex</b> (const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</td></tr>
|
||||
bool </td><td class="memItemRight" valign="bottom"><b>loadIndex</b> (const unsigned char *indexData, size_t indexDataSize, <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</td></tr>
|
||||
<tr class="memdesc:a028eac4aeef64d62b9edea1f7b38a71e"><td class="mdescLeft"> </td><td class="mdescRight">Load an index from a raw buffer, see the overload above. <br /></td></tr>
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<tr class="separator:a028eac4aeef64d62b9edea1f7b38a71e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4a5c33446a515bd8f0c2f73a1adaeb23" id="r_a4a5c33446a515bd8f0c2f73a1adaeb23"><td class="memItemLeft" align="right" valign="top"><a id="a4a5c33446a515bd8f0c2f73a1adaeb23" name="a4a5c33446a515bd8f0c2f73a1adaeb23"></a>
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bool </td><td class="memItemRight" valign="bottom"><b>isBuilt</b> ()</td></tr>
|
||||
<tr class="memitem:a4a5c33446a515bd8f0c2f73a1adaeb23" id="r_a4a5c33446a515bd8f0c2f73a1adaeb23"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">isBuilt</a> ()</td></tr>
|
||||
<tr class="separator:a4a5c33446a515bd8f0c2f73a1adaeb23"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ace329768df8b54b935fbe7a8921efe69" id="r_ace329768df8b54b935fbe7a8921efe69"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">featuresType</a> () const</td></tr>
|
||||
<tr class="separator:ace329768df8b54b935fbe7a8921efe69"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a8191e3ba9cc7a5361443430171691df3" id="r_a8191e3ba9cc7a5361443430171691df3"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">featuresDim</a> () const</td></tr>
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<tr class="separator:a8191e3ba9cc7a5361443430171691df3"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a8bd8312e92376d6bf2885907f5d93c68" id="r_a8bd8312e92376d6bf2885907f5d93c68"><td class="memItemLeft" align="right" valign="top"><a id="a8bd8312e92376d6bf2885907f5d93c68" name="a8bd8312e92376d6bf2885907f5d93c68"></a>
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||||
std::vector< unsigned int > </td><td class="memItemRight" valign="bottom"><b>addPoints</b> (const cv::Mat &features)</td></tr>
|
||||
<tr class="memitem:a8bd8312e92376d6bf2885907f5d93c68" id="r_a8bd8312e92376d6bf2885907f5d93c68"><td class="memItemLeft" align="right" valign="top">std::vector< unsigned int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">addPoints</a> (const cv::Mat &features)</td></tr>
|
||||
<tr class="memdesc:a8bd8312e92376d6bf2885907f5d93c68"><td class="mdescLeft"> </td><td class="mdescRight">Add features to the index. <br /></td></tr>
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<tr class="separator:a8bd8312e92376d6bf2885907f5d93c68"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a7d78d049ac4afb9f90fc0705506a6ce0" id="r_a7d78d049ac4afb9f90fc0705506a6ce0"><td class="memItemLeft" align="right" valign="top"><a id="a7d78d049ac4afb9f90fc0705506a6ce0" name="a7d78d049ac4afb9f90fc0705506a6ce0"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>removePoint</b> (unsigned int index)</td></tr>
|
||||
<tr class="memitem:a7d78d049ac4afb9f90fc0705506a6ce0" id="r_a7d78d049ac4afb9f90fc0705506a6ce0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">removePoint</a> (unsigned int index)</td></tr>
|
||||
<tr class="memdesc:a7d78d049ac4afb9f90fc0705506a6ce0"><td class="mdescLeft"> </td><td class="mdescRight">Remove an indexed feature, by the index <a class="el" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68" title="Add features to the index.">addPoints()</a> gave for it. <br /></td></tr>
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<tr class="separator:a7d78d049ac4afb9f90fc0705506a6ce0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:accf263b21aaacf3d00e6e73ccef5cc75" id="r_accf263b21aaacf3d00e6e73ccef5cc75"><td class="memItemLeft" align="right" valign="top"><a id="accf263b21aaacf3d00e6e73ccef5cc75" name="accf263b21aaacf3d00e6e73ccef5cc75"></a>
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||||
void </td><td class="memItemRight" valign="bottom"><b>knnSearch</b> (const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const</td></tr>
|
||||
<tr class="memitem:accf263b21aaacf3d00e6e73ccef5cc75" id="r_accf263b21aaacf3d00e6e73ccef5cc75"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">knnSearch</a> (const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const</td></tr>
|
||||
<tr class="memdesc:accf263b21aaacf3d00e6e73ccef5cc75"><td class="mdescLeft"> </td><td class="mdescRight">Search the k nearest neighbors of each query. <br /></td></tr>
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<tr class="separator:accf263b21aaacf3d00e6e73ccef5cc75"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a37bb608ab9ae1e7db35c2681a0c17eb5" id="r_a37bb608ab9ae1e7db35c2681a0c17eb5"><td class="memItemLeft" align="right" valign="top"><a id="a37bb608ab9ae1e7db35c2681a0c17eb5" name="a37bb608ab9ae1e7db35c2681a0c17eb5"></a>
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||||
void </td><td class="memItemRight" valign="bottom"><b>radiusSearch</b> (const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const</td></tr>
|
||||
<tr class="memitem:a37bb608ab9ae1e7db35c2681a0c17eb5" id="r_a37bb608ab9ae1e7db35c2681a0c17eb5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">radiusSearch</a> (const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const</td></tr>
|
||||
<tr class="memdesc:a37bb608ab9ae1e7db35c2681a0c17eb5"><td class="mdescLeft"> </td><td class="mdescRight">Search the neighbors of each query within a radius. <br /></td></tr>
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<tr class="separator:a37bb608ab9ae1e7db35c2681a0c17eb5"><td class="memSeparator" colspan="2"> </td></tr>
|
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</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock">
|
||||
<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00037">37</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
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<div class="textblock"><p>Nearest neighbor index over a set of features. </p>
|
||||
<p>Wraps the search structures of the vendored rtflann and nanoflann libraries behind one interface, the structure being chosen with flann_algorithm_t at build time. Used for the visual word dictionary (<a class="el" href="classrtabmap_1_1VWDictionary.html" title="Manages a dictionary of visual words for visual place recognition and loop closure detection.">VWDictionary</a>) and for the 2D point searches of visual registration (<a class="el" href="classrtabmap_1_1RegistrationVis.html" title="Visual registration between two signatures using features and geometry.">RegistrationVis</a>).</p>
|
||||
<p>The features are not copied: the index refers to the matrices it is given and keeps them alive, cv::Mat data being reference counted, so they must not be modified in place while it is in use. Every point it holds is designated by an index, assigned in the order the points were added and stable for the lifetime of the index: <a class="el" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0" title="Remove an indexed feature, by the index addPoints() gave for it.">removePoint()</a> leaves a hole rather than renumbering the points after it. </p>
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||||
|
||||
<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00055">55</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
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</div><h2 class="groupheader">Member Enumeration Documentation</h2>
|
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<a id="a88ddfe63de9e9f574ac804ade460f010" name="a88ddfe63de9e9f574ac804ade460f010"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a88ddfe63de9e9f574ac804ade460f010">◆ </a></span>flann_algorithm_t</h2>
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@@ -169,16 +181,231 @@ void </td><td class="memItemRight" valign="bottom"><b>radiusSearch</b> (con
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">enum rtabmap::FlannIndex::flann_algorithm_t</td>
|
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<td class="memname">enum <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">rtabmap::FlannIndex::flann_algorithm_t</a></td>
|
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</tr>
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</table>
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</div><div class="memdoc">
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<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00041">41</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
||||
<p>The index structure built by <a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521" title="Build the index over the given features, releasing any previous one.">buildIndex()</a> </p>
|
||||
<p>The values under 8 are forwarded from rtflann's own enum and have to match it (see src/rtflann/defines.h); the nanoflann ones are rtabmap-specific and kept outside its range (0-7, 254, 255). A value is written in the serialized index header and checked back on load, so none of them may be renumbered.</p>
|
||||
<p>The nanoflann structures take float features only (nanoflann has no Hamming metric) and search exactly, ignoring "checks". That makes them the fastest ones for 2D and 3D points, and the wrong ones for descriptors: an exact search visits more and more of the tree as the dimension grows, down to being as slow as an exhaustive search. Prefer the approximate rtflann kd-trees for those. </p>
|
||||
<table class="fieldtable">
|
||||
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818" name="a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818"></a>FLANN_INDEX_LINEAR </td><td class="fielddoc"><p>Exhaustive search. </p>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d" name="a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d"></a>FLANN_INDEX_KDTREE </td><td class="fielddoc"><p>4 randomized kd-trees, searched approximately </p>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081" name="a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081"></a>FLANN_INDEX_KDTREE_SINGLE </td><td class="fielddoc"><p>Single kd-tree, searched exactly. </p>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8" name="a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8"></a>FLANN_INDEX_LSH </td><td class="fielddoc"><p>Locality-Sensitive Hashing (binary descriptors) </p>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3" name="a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3"></a>NANOFLANN_INDEX_KDTREE_SINGLE </td><td class="fielddoc"><p>nanoflann kd-tree. With a rebalancing factor of 1 it is built once, which is the cheapest to build and to search; over 1 it is the weight-balanced tree accepting <a class="el" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68" title="Add features to the index.">addPoints()</a>/removePoint(), which cannot be serialized while some of its points are removed. </p>
|
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</td></tr>
|
||||
</table>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00075">75</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<h2 class="groupheader">Member Function Documentation</h2>
|
||||
<a id="a1f2bf8718a75aa0b5dded8c287293c23" name="a1f2bf8718a75aa0b5dded8c287293c23"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a1f2bf8718a75aa0b5dded8c287293c23">◆ </a></span>serializeIndex()</h2>
|
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<div class="memitem">
|
||||
<div class="memproto">
|
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<table class="memname">
|
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<tr>
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||||
<td class="memname">std::vector< unsigned char > rtabmap::FlannIndex::serializeIndex </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">bool </td>
|
||||
<td class="paramname"><em>computeChecksum</em> = <code>true</code></td><td>)</td>
|
||||
<td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Serialize the index, to be given back to <a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b" title="Load an index serialized by serializeIndex(), releasing any previous one.">loadIndex()</a> </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">computeChecksum</td><td>Add a checksum of the indexed features to the data, which <a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b" title="Load an index serialized by serializeIndex(), releasing any previous one.">loadIndex()</a> compares against the features it is given </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>The serialized index, empty when there is nothing to serialize or when the structure in use cannot be</dd></dl>
|
||||
<p>The format depends on the architecture and on the versions of the vendored libraries: <a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b" title="Load an index serialized by serializeIndex(), releasing any previous one.">loadIndex()</a> refuses an index it cannot read, leaving it to be rebuilt. </p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a759817fbddaf8c6bdb04ba0a44e9847a" name="a759817fbddaf8c6bdb04ba0a44e9847a"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a759817fbddaf8c6bdb04ba0a44e9847a">◆ </a></span>indexedFeatures()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">size_t rtabmap::FlannIndex::indexedFeatures </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd>Number of indexed features, the removed ones excluded. </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a5a2eed18fe1216142d09c05243e9d06f" name="a5a2eed18fe1216142d09c05243e9d06f"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a5a2eed18fe1216142d09c05243e9d06f">◆ </a></span>memoryUsed()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">size_t rtabmap::FlannIndex::memoryUsed </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd>Bytes used by the index, the features themselves excluded as they are only referred to. </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="aad2f29314c6b021d1c53217a7a041521" name="aad2f29314c6b021d1c53217a7a041521"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#aad2f29314c6b021d1c53217a7a041521">◆ </a></span>buildIndex()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void rtabmap::FlannIndex::buildIndex </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> </td>
|
||||
<td class="paramname"><em>algorithm</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">const cv::Mat & </td>
|
||||
<td class="paramname"><em>features</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">bool </td>
|
||||
<td class="paramname"><em>useDistanceL1</em> = <code>false</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">float </td>
|
||||
<td class="paramname"><em>rebalancingFactor</em> = <code>2.0f</code> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Build the index over the given features, releasing any previous one. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">algorithm</td><td>The structure to build </td></tr>
|
||||
<tr><td class="paramname">features</td><td>One feature per row, CV_32FC1 or, for the rtflann structures only, CV_8UC1 for binary descriptors (Hamming distance) </td></tr>
|
||||
<tr><td class="paramname">useDistanceL1</td><td>Search with the L1 distance instead of L2, ignored by LSH and by the binary descriptors </td></tr>
|
||||
<tr><td class="paramname">rebalancingFactor</td><td>Fraction (factor-1)/factor of the index that can be left removed before it is rebuilt, e.g. half of it for 2. Set to 1 to never rebuild it. </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a826b3a33e22f455f04688df9d0d25b0b" name="a826b3a33e22f455f04688df9d0d25b0b"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a826b3a33e22f455f04688df9d0d25b0b">◆ </a></span>loadIndex()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">bool rtabmap::FlannIndex::loadIndex </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const std::vector< unsigned char > & </td>
|
||||
<td class="paramname"><em>indexData</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype"><a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> </td>
|
||||
<td class="paramname"><em>algorithm</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">const cv::Mat & </td>
|
||||
<td class="paramname"><em>features</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">bool </td>
|
||||
<td class="paramname"><em>useDistanceL1</em> = <code>false</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">float </td>
|
||||
<td class="paramname"><em>rebalancingFactor</em> = <code>2.0f</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">std::string * </td>
|
||||
<td class="paramname"><em>errorMsg</em> = <code>NULL</code> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Load an index serialized by <a class="el" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23" title="Serialize the index, to be given back to loadIndex()">serializeIndex()</a>, releasing any previous one. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">indexData</td><td>The serialized index </td></tr>
|
||||
<tr><td class="paramname">algorithm</td><td>The structure it was built with </td></tr>
|
||||
<tr><td class="paramname">features</td><td>The very same features it was built with, in the same order: the index refers to them by their row </td></tr>
|
||||
<tr><td class="paramname">useDistanceL1</td><td>The distance it was built with </td></tr>
|
||||
<tr><td class="paramname">rebalancingFactor</td><td>See <a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521" title="Build the index over the given features, releasing any previous one.">buildIndex()</a>. The serialized data carries the one the index was built with, which is deprecated and ignored: this one is used instead. </td></tr>
|
||||
<tr><td class="paramname">errorMsg</td><td>Filled with what didn't match when the index is refused </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>False if the data doesn't correspond to the given features and parameters, in which case the index is left released </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a4a5c33446a515bd8f0c2f73a1adaeb23" name="a4a5c33446a515bd8f0c2f73a1adaeb23"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a4a5c33446a515bd8f0c2f73a1adaeb23">◆ </a></span>isBuilt()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">bool rtabmap::FlannIndex::isBuilt </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd>Whether an index has been built or loaded. </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="ace329768df8b54b935fbe7a8921efe69" name="ace329768df8b54b935fbe7a8921efe69"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#ace329768df8b54b935fbe7a8921efe69">◆ </a></span>featuresType()</h2>
|
||||
|
||||
@@ -201,8 +428,9 @@ void </td><td class="memItemRight" valign="bottom"><b>radiusSearch</b> (con
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd>Type of the indexed features (CV_32FC1 or CV_8UC1). </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00085">85</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00169">169</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -228,8 +456,208 @@ void </td><td class="memItemRight" valign="bottom"><b>radiusSearch</b> (con
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd>Dimension of the indexed features. </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00086">86</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="FlannIndex_8h_source.html#l00171">171</a> of file <a class="el" href="FlannIndex_8h_source.html">FlannIndex.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a8bd8312e92376d6bf2885907f5d93c68" name="a8bd8312e92376d6bf2885907f5d93c68"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a8bd8312e92376d6bf2885907f5d93c68">◆ </a></span>addPoints()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">std::vector< unsigned int > rtabmap::FlannIndex::addPoints </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const cv::Mat & </td>
|
||||
<td class="paramname"><em>features</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Add features to the index. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">features</td><td>One feature per row, of the type and dimension the index was built with </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>The index assigned to each of them, empty when the structure doesn't accept points after it is built </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a7d78d049ac4afb9f90fc0705506a6ce0" name="a7d78d049ac4afb9f90fc0705506a6ce0"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a7d78d049ac4afb9f90fc0705506a6ce0">◆ </a></span>removePoint()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void rtabmap::FlannIndex::removePoint </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">unsigned int </td>
|
||||
<td class="paramname"><em>index</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Remove an indexed feature, by the index <a class="el" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68" title="Add features to the index.">addPoints()</a> gave for it. </p>
|
||||
<p>The feature is only marked as removed: it is skipped by the searches, but keeps taking memory until the index is rebuilt (see the rebalancing factor of <a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521" title="Build the index over the given features, releasing any previous one.">buildIndex()</a>). Not supported by every structure. </p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="accf263b21aaacf3d00e6e73ccef5cc75" name="accf263b21aaacf3d00e6e73ccef5cc75"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#accf263b21aaacf3d00e6e73ccef5cc75">◆ </a></span>knnSearch()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void rtabmap::FlannIndex::knnSearch </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const cv::Mat & </td>
|
||||
<td class="paramname"><em>query</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">cv::Mat & </td>
|
||||
<td class="paramname"><em>indices</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">cv::Mat & </td>
|
||||
<td class="paramname"><em>dists</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>knn</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>checks</em> = <code>32</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">float </td>
|
||||
<td class="paramname"><em>eps</em> = <code>0.0</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">bool </td>
|
||||
<td class="paramname"><em>sorted</em> = <code>true</code> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Search the k nearest neighbors of each query. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">query</td><td>One feature per row, of the type and dimension the index was built with </td></tr>
|
||||
<tr><td class="paramname">indices</td><td>Neighbors found, one query per row, CV_32SC1. The neighbors that couldn't be found are set to -1. </td></tr>
|
||||
<tr><td class="paramname">dists</td><td>Their squared distances, CV_32FC1, or CV_32SC1 for the Hamming distances of binary descriptors </td></tr>
|
||||
<tr><td class="paramname">knn</td><td>Number of neighbors to search for </td></tr>
|
||||
<tr><td class="paramname">checks</td><td>Number of leaves an approximate search visits, the exact structures ignoring it </td></tr>
|
||||
<tr><td class="paramname">eps</td><td>Search for eps-approximate neighbors </td></tr>
|
||||
<tr><td class="paramname">sorted</td><td>Give the neighbors back by increasing distance </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a37bb608ab9ae1e7db35c2681a0c17eb5" name="a37bb608ab9ae1e7db35c2681a0c17eb5"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a37bb608ab9ae1e7db35c2681a0c17eb5">◆ </a></span>radiusSearch()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void rtabmap::FlannIndex::radiusSearch </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const cv::Mat & </td>
|
||||
<td class="paramname"><em>query</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">std::vector< std::vector< size_t > > & </td>
|
||||
<td class="paramname"><em>indices</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">std::vector< std::vector< float > > & </td>
|
||||
<td class="paramname"><em>dists</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">float </td>
|
||||
<td class="paramname"><em>radius</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>maxNeighbors</em> = <code>0</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>checks</em> = <code>32</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">float </td>
|
||||
<td class="paramname"><em>eps</em> = <code>0.0</code>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">bool </td>
|
||||
<td class="paramname"><em>sorted</em> = <code>true</code> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Search the neighbors of each query within a radius. </p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">query</td><td>One feature per row, of the type and dimension the index was built with </td></tr>
|
||||
<tr><td class="paramname">indices</td><td>Neighbors found, one vector per query </td></tr>
|
||||
<tr><td class="paramname">dists</td><td>Their squared distances, one vector per query </td></tr>
|
||||
<tr><td class="paramname">radius</td><td>Search radius, squared internally: it is a distance, not a squared one </td></tr>
|
||||
<tr><td class="paramname">maxNeighbors</td><td>Maximum number of neighbors per query, the nearest ones being kept. 0 for all of them. </td></tr>
|
||||
<tr><td class="paramname">checks</td><td>Number of leaves an approximate search visits, the exact structures ignoring it </td></tr>
|
||||
<tr><td class="paramname">eps</td><td>Search for eps-approximate neighbors </td></tr>
|
||||
<tr><td class="paramname">sorted</td><td>Give the neighbors back by increasing distance </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@@ -0,0 +1,24 @@
|
||||
var classrtabmap_1_1FlannIndex =
|
||||
[
|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
[ "memoryUsed", "classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f", null ],
|
||||
[ "buildIndex", "classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521", null ],
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||||
[ "loadIndex", "classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b", null ],
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[ "loadIndex", "classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e", null ],
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||||
[ "isBuilt", "classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23", null ],
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||||
[ "featuresType", "classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69", null ],
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||||
[ "featuresDim", "classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3", null ],
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||||
[ "addPoints", "classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68", null ],
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||||
[ "removePoint", "classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0", null ],
|
||||
[ "knnSearch", "classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75", null ],
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[ "radiusSearch", "classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5", null ]
|
||||
];
|
||||
@@ -687,7 +687,7 @@ Static Public Member Functions</h2></td></tr>
|
||||
<tr class="memdesc:aa01d5fdd8fd13161fffbccd2418d4985"><td class="mdescLeft"> </td><td class="mdescRight">Type of parameter Mem/RotateImagesUpsideUp , as a string: bool . <br /></td></tr>
|
||||
<tr class="separator:aa01d5fdd8fd13161fffbccd2418d4985"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a994321ccf32f126b6781aa1925a5fa66" id="r_a994321ccf32f126b6781aa1925a5fa66"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a994321ccf32f126b6781aa1925a5fa66">kKpNNStrategy</a> ()</td></tr>
|
||||
<tr class="memdesc:a994321ccf32f126b6781aa1925a5fa66"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4" Default value: 1 ( int ). <br /></td></tr>
|
||||
<tr class="memdesc:a994321ccf32f126b6781aa1925a5fa66"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/NNStrategy : "FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, FLANN KdTree Single=5, NanoFLANN KdTree=6" Default value: 1 ( int ). <br /></td></tr>
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<tr class="separator:a994321ccf32f126b6781aa1925a5fa66"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2df3c573a24040a99c2204b15d40b3af" id="r_a2df3c573a24040a99c2204b15d40b3af"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a2df3c573a24040a99c2204b15d40b3af">defaultKpNNStrategy</a> ()</td></tr>
|
||||
<tr class="memdesc:a2df3c573a24040a99c2204b15d40b3af"><td class="mdescLeft"> </td><td class="mdescRight">Default value of parameter Kp/NNStrategy : 1 . <br /></td></tr>
|
||||
@@ -705,7 +705,7 @@ Static Public Member Functions</h2></td></tr>
|
||||
<tr class="memdesc:a9aa02c3425918b1b506575caa9346c90"><td class="mdescLeft"> </td><td class="mdescRight">Type of parameter Kp/IncrementalDictionary , as a string: bool . <br /></td></tr>
|
||||
<tr class="separator:a9aa02c3425918b1b506575caa9346c90"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a092387f2a424c8db4f2482742b0b0fb9" id="r_a092387f2a424c8db4f2482742b0b0fb9"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a092387f2a424c8db4f2482742b0b0fb9">kKpIncrementalFlann</a> ()</td></tr>
|
||||
<tr class="memdesc:a092387f2a424c8db4f2482742b0b0fb9"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", <a class="el" href="classrtabmap_1_1Parameters.html#a17550d1f1b862a621c409d4e12c7696b" title="Key of parameter Kp/FlannRebalancingFactor : uFormat("Factor used when rebuilding the incremental FLA...">kKpFlannRebalancingFactor()</a>.c_str()) Default value: true ( bool ). <br /></td></tr>
|
||||
<tr class="memdesc:a092387f2a424c8db4f2482742b0b0fb9"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is only rebuilt when too many of its features have been removed, see \"%s\").", <a class="el" href="classrtabmap_1_1Parameters.html#a17550d1f1b862a621c409d4e12c7696b" title="Key of parameter Kp/FlannRebalancingFactor : uFormat("Rebuild the incremental FLANN index (see \"%s\"...">kKpFlannRebalancingFactor()</a>.c_str()) Default value: true ( bool ). <br /></td></tr>
|
||||
<tr class="separator:a092387f2a424c8db4f2482742b0b0fb9"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a66f0bded3fc68132c461caec2347d740" id="r_a66f0bded3fc68132c461caec2347d740"><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a66f0bded3fc68132c461caec2347d740">defaultKpIncrementalFlann</a> ()</td></tr>
|
||||
<tr class="memdesc:a66f0bded3fc68132c461caec2347d740"><td class="mdescLeft"> </td><td class="mdescRight">Default value of parameter Kp/IncrementalFlann : true . <br /></td></tr>
|
||||
@@ -714,7 +714,7 @@ Static Public Member Functions</h2></td></tr>
|
||||
<tr class="memdesc:ab209736974cc9fcf74a1159e25f103a6"><td class="mdescLeft"> </td><td class="mdescRight">Type of parameter Kp/IncrementalFlann , as a string: bool . <br /></td></tr>
|
||||
<tr class="separator:ab209736974cc9fcf74a1159e25f103a6"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a17550d1f1b862a621c409d4e12c7696b" id="r_a17550d1f1b862a621c409d4e12c7696b"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a17550d1f1b862a621c409d4e12c7696b">kKpFlannRebalancingFactor</a> ()</td></tr>
|
||||
<tr class="memdesc:a17550d1f1b862a621c409d4e12c7696b"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/FlannRebalancingFactor : uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", <a class="el" href="classrtabmap_1_1Parameters.html#a092387f2a424c8db4f2482742b0b0fb9" title="Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to...">kKpIncrementalFlann()</a>.c_str()) Default value: 2.0 ( float ). <br /></td></tr>
|
||||
<tr class="memdesc:a17550d1f1b862a621c409d4e12c7696b"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/FlannRebalancingFactor : uFormat("Rebuild the incremental FLANN index (see \"%s\") once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled (\"%s\" or \"%s\"). Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one.", <a class="el" href="classrtabmap_1_1Parameters.html#a092387f2a424c8db4f2482742b0b0fb9" title="Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to...">kKpIncrementalFlann()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a8ee7e153cfb26574c7d1c7b427593f8a" title="Key of parameter Rtabmap/TimeThr : "Maximum time allowed for map update (ms) (0 means infinity)....">kRtabmapTimeThr()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a66882ccd6f0a49f2c23db8718d12a59c" title="Key of parameter Rtabmap/MemoryThr : uFormat("Maximum nodes in the Working Memory (0 means infinity)....">kRtabmapMemoryThr()</a>.c_str()) Default value: 2.0 ( float ). <br /></td></tr>
|
||||
<tr class="separator:a17550d1f1b862a621c409d4e12c7696b"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a48c34474ee0a9b6f8862688f2015fce8" id="r_a48c34474ee0a9b6f8862688f2015fce8"><td class="memItemLeft" align="right" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a48c34474ee0a9b6f8862688f2015fce8">defaultKpFlannRebalancingFactor</a> ()</td></tr>
|
||||
<tr class="memdesc:a48c34474ee0a9b6f8862688f2015fce8"><td class="mdescLeft"> </td><td class="mdescRight">Default value of parameter Kp/FlannRebalancingFactor : 2.0 . <br /></td></tr>
|
||||
@@ -723,7 +723,7 @@ Static Public Member Functions</h2></td></tr>
|
||||
<tr class="memdesc:a31c98171e623d2d00ced8d5ee75aed20"><td class="mdescLeft"> </td><td class="mdescRight">Type of parameter Kp/FlannRebalancingFactor , as a string: float . <br /></td></tr>
|
||||
<tr class="separator:a31c98171e623d2d00ced8d5ee75aed20"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a98de5152ce8f3bc8d1f197d20d4e778a" id="r_a98de5152ce8f3bc8d1f197d20d4e778a"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a98de5152ce8f3bc8d1f197d20d4e778a">kKpByteToFloat</a> ()</td></tr>
|
||||
<tr class="memdesc:a98de5152ce8f3bc8d1f197d20d4e778a"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/ByteToFloat : uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", <a class="el" href="classrtabmap_1_1Parameters.html#a994321ccf32f126b6781aa1925a5fa66" title="Key of parameter Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2,...">kKpNNStrategy()</a>.c_str()) Default value: false ( bool ). <br /></td></tr>
|
||||
<tr class="memdesc:a98de5152ce8f3bc8d1f197d20d4e778a"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Kp/ByteToFloat : uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", <a class="el" href="classrtabmap_1_1Parameters.html#a994321ccf32f126b6781aa1925a5fa66" title="Key of parameter Kp/NNStrategy : "FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3,...">kKpNNStrategy()</a>.c_str()) Default value: false ( bool ). <br /></td></tr>
|
||||
<tr class="separator:a98de5152ce8f3bc8d1f197d20d4e778a"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a65c89efe990caf9872456567afd54c71" id="r_a65c89efe990caf9872456567afd54c71"><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a65c89efe990caf9872456567afd54c71">defaultKpByteToFloat</a> ()</td></tr>
|
||||
<tr class="memdesc:a65c89efe990caf9872456567afd54c71"><td class="mdescLeft"> </td><td class="mdescRight">Default value of parameter Kp/ByteToFloat : false . <br /></td></tr>
|
||||
@@ -4269,7 +4269,7 @@ Static Public Member Functions</h2></td></tr>
|
||||
<tr class="memdesc:a32e8334e07d7959d8d14ef93954d4e91"><td class="mdescLeft"> </td><td class="mdescRight">Type of parameter Vis/CorType , as a string: int . <br /></td></tr>
|
||||
<tr class="separator:a32e8334e07d7959d8d14ef93954d4e91"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a341b0c15fe1fba640ad3aee76019a618" id="r_a341b0c15fe1fba640ad3aee76019a618"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a341b0c15fe1fba640ad3aee76019a618">kVisCorNNType</a> ()</td></tr>
|
||||
<tr class="memdesc:a341b0c15fe1fba640ad3aee76019a618"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Vis/CorNNType : uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", <a class="el" href="classrtabmap_1_1Parameters.html#a1f1c5f9198da6ec1d43a36621b0e6687" title="Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching,...">kVisCorType()</a>.c_str()) Default value: 1 ( int ). <br /></td></tr>
|
||||
<tr class="memdesc:a341b0c15fe1fba640ad3aee76019a618"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Vis/CorNNType : uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", <a class="el" href="classrtabmap_1_1Parameters.html#a1f1c5f9198da6ec1d43a36621b0e6687" title="Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching,...">kVisCorType()</a>.c_str()) Default value: 1 ( int ). <br /></td></tr>
|
||||
<tr class="separator:a341b0c15fe1fba640ad3aee76019a618"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a975192ffcb93b8b2923379657090fcf7" id="r_a975192ffcb93b8b2923379657090fcf7"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a975192ffcb93b8b2923379657090fcf7">defaultVisCorNNType</a> ()</td></tr>
|
||||
<tr class="memdesc:a975192ffcb93b8b2923379657090fcf7"><td class="mdescLeft"> </td><td class="mdescRight">Default value of parameter Vis/CorNNType : 1 . <br /></td></tr>
|
||||
@@ -11324,7 +11324,7 @@ The <a class="el" href="parameters.html">Parameter reference</a> page, which lis
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Key of parameter Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4" Default value: 1 ( int ). </p>
|
||||
<p>Key of parameter Kp/NNStrategy : "FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, FLANN KdTree Single=5, NanoFLANN KdTree=6" Default value: 1 ( int ). </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00255">255</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
|
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|
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</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", <a class="el" href="classrtabmap_1_1Parameters.html#a17550d1f1b862a621c409d4e12c7696b" title="Key of parameter Kp/FlannRebalancingFactor : uFormat("Factor used when rebuilding the incremental FLA...">kKpFlannRebalancingFactor()</a>.c_str()) Default value: true ( bool ). </p>
|
||||
<p>Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is only rebuilt when too many of its features have been removed, see \"%s\").", <a class="el" href="classrtabmap_1_1Parameters.html#a17550d1f1b862a621c409d4e12c7696b" title="Key of parameter Kp/FlannRebalancingFactor : uFormat("Rebuild the incremental FLANN index (see \"%s\"...">kKpFlannRebalancingFactor()</a>.c_str()) Default value: true ( bool ). </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00257">257</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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</table>
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</div><div class="memdoc">
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<p>Key of parameter Kp/FlannRebalancingFactor : uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", <a class="el" href="classrtabmap_1_1Parameters.html#a092387f2a424c8db4f2482742b0b0fb9" title="Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to...">kKpIncrementalFlann()</a>.c_str()) Default value: 2.0 ( float ). </p>
|
||||
<p>Key of parameter Kp/FlannRebalancingFactor : uFormat("Rebuild the incremental FLANN index (see \"%s\") once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled (\"%s\" or \"%s\"). Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one.", <a class="el" href="classrtabmap_1_1Parameters.html#a092387f2a424c8db4f2482742b0b0fb9" title="Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to...">kKpIncrementalFlann()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a8ee7e153cfb26574c7d1c7b427593f8a" title="Key of parameter Rtabmap/TimeThr : "Maximum time allowed for map update (ms) (0 means infinity)....">kRtabmapTimeThr()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a66882ccd6f0a49f2c23db8718d12a59c" title="Key of parameter Rtabmap/MemoryThr : uFormat("Maximum nodes in the Working Memory (0 means infinity)....">kRtabmapMemoryThr()</a>.c_str()) Default value: 2.0 ( float ). </p>
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||||
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00258">258</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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||||
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||||
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||||
<p>Key of parameter Kp/ByteToFloat : uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", <a class="el" href="classrtabmap_1_1Parameters.html#a994321ccf32f126b6781aa1925a5fa66" title="Key of parameter Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2,...">kKpNNStrategy()</a>.c_str()) Default value: false ( bool ). </p>
|
||||
<p>Key of parameter Kp/ByteToFloat : uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", <a class="el" href="classrtabmap_1_1Parameters.html#a994321ccf32f126b6781aa1925a5fa66" title="Key of parameter Kp/NNStrategy : "FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3,...">kKpNNStrategy()</a>.c_str()) Default value: false ( bool ). </p>
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||||
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00259">259</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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||||
<p>Key of parameter Vis/CorNNType : uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", <a class="el" href="classrtabmap_1_1Parameters.html#a1f1c5f9198da6ec1d43a36621b0e6687" title="Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching,...">kVisCorType()</a>.c_str()) Default value: 1 ( int ). </p>
|
||||
<p>Key of parameter Vis/CorNNType : uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", <a class="el" href="classrtabmap_1_1Parameters.html#a1f1c5f9198da6ec1d43a36621b0e6687" title="Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching,...">kVisCorType()</a>.c_str()) Default value: 1 ( int ). </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00783">783</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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||||
@@ -126,6 +126,8 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1RegistrationVis.html',
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||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>getMinVisualCorrespondencesImpl</b>() const (defined in <a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">getNNDR</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">getNNType</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">getNNTypeName</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html#a770e36d382cf124c47847e50436ae40e">getNNTypeName</a>(int nnType)</td><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Registration.html#ae10ae7b6dbf4d5396db66600ebe18228">isImageRequired</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>isImageRequiredImpl</b>() const (defined in <a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Registration.html#aa0748ad5a576d0919ef0d360137e5ea7">isScanRequired</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></td><td class="entry"></td></tr>
|
||||
|
||||
@@ -100,6 +100,7 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1RegistrationVis.html',
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<div class="header">
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||||
<div class="summary">
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<a href="#pub-methods">Public Member Functions</a> |
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||||
<a href="#pub-static-methods">Static Public Member Functions</a> |
|
||||
<a href="#pro-methods">Protected Member Functions</a> |
|
||||
<a href="classrtabmap_1_1RegistrationVis-members.html">List of all members</a> </div>
|
||||
<div class="headertitle"><div class="title">rtabmap::RegistrationVis Class Reference</div></div>
|
||||
@@ -148,6 +149,8 @@ Public Member Functions</h2></td></tr>
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<tr class="separator:ae951e95c4ae2ea1ab5c4d849823d66c4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a697d562bebe30b73a1ecd34dabee4347" id="r_a697d562bebe30b73a1ecd34dabee4347"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">getNNType</a> () const</td></tr>
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<tr class="separator:a697d562bebe30b73a1ecd34dabee4347"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9fd0ba3453d2c658d8a9b1cee5ba132c" id="r_a9fd0ba3453d2c658d8a9b1cee5ba132c"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">getNNTypeName</a> () const</td></tr>
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<tr class="separator:a9fd0ba3453d2c658d8a9b1cee5ba132c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aed9e9e593b290a4be1aeda05967a631a" id="r_aed9e9e593b290a4be1aeda05967a631a"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">getNNDR</a> () const</td></tr>
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<tr class="separator:aed9e9e593b290a4be1aeda05967a631a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a951c79dd9be75b896c551e5213c0ee31" id="r_a951c79dd9be75b896c551e5213c0ee31"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">getEstimationType</a> () const</td></tr>
|
||||
@@ -200,6 +203,22 @@ void </td><td class="memItemRight" valign="bottom"><b>setChildRegistration<
|
||||
<tr class="memdesc:a44530cd77f6d0a9657251864fb136c0d inherit pub_methods_classrtabmap_1_1Registration"><td class="mdescLeft"> </td><td class="mdescRight">Registers <code>from</code> to <code>to</code>; signatures may be modified by the implementation. <br /></td></tr>
|
||||
<tr class="separator:a44530cd77f6d0a9657251864fb136c0d inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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Static Public Member Functions</h2></td></tr>
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<tr class="memitem:a770e36d382cf124c47847e50436ae40e" id="r_a770e36d382cf124c47847e50436ae40e"><td class="memItemLeft" align="right" valign="top"><a id="a770e36d382cf124c47847e50436ae40e" name="a770e36d382cf124c47847e50436ae40e"></a>
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static std::string </td><td class="memItemRight" valign="bottom"><b>getNNTypeName</b> (int nnType)</td></tr>
|
||||
<tr class="memdesc:a770e36d382cf124c47847e50436ae40e"><td class="mdescLeft"> </td><td class="mdescRight">Name of a Vis/CorNNType value. <br /></td></tr>
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<tr class="separator:a770e36d382cf124c47847e50436ae40e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_static_methods_classrtabmap_1_1Registration"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Registration')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></td></tr>
|
||||
<tr class="memitem:a516e8d64cdb3e7a743a3aa40ab026def inherit pub_static_methods_classrtabmap_1_1Registration" id="r_a516e8d64cdb3e7a743a3aa40ab026def"><td class="memItemLeft" align="right" valign="top">
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||||
static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> * </td><td class="memItemRight" valign="bottom"><b>create</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters)</td></tr>
|
||||
<tr class="memdesc:a516e8d64cdb3e7a743a3aa40ab026def inherit pub_static_methods_classrtabmap_1_1Registration"><td class="mdescLeft"> </td><td class="mdescRight">Creates a registration from <b>Reg/Strategy</b> in <code>parameters</code>. Caller owns the pointer. <br /></td></tr>
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<tr class="separator:a516e8d64cdb3e7a743a3aa40ab026def inherit pub_static_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration" id="r_a1e3493a850551c98f9e814fed74400e6"><td class="memItemLeft" align="right" valign="top">
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||||
static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> * </td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">Type</a> &type, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
|
||||
<tr class="memdesc:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration"><td class="mdescLeft"> </td><td class="mdescRight">Creates a registration of <code>type</code> (may be adjusted, e.g. to <a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724">kTypeVis</a>). Caller owns the pointer. <br /></td></tr>
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<tr class="separator:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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Protected Member Functions</h2></td></tr>
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<tr class="memitem:aa47fd3a0599ee918e024161db330a92f" id="r_aa47fd3a0599ee918e024161db330a92f"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f">computeTransformationImpl</a> (<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &from, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &to, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> guess, <a class="el" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> &info) const</td></tr>
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@@ -233,15 +252,6 @@ Additional Inherited Members</h2></td></tr>
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}</td></tr>
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<tr class="memdesc:ae693713cd8b7ece4b147eae99880b849"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Registration.html" title="Abstract base for registering two observations (visual, ICP, or both).">Registration</a> strategy selected by <b>Reg/Strategy</b>. <a href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">More...</a><br /></td></tr>
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<tr class="separator:ae693713cd8b7ece4b147eae99880b849 inherit pub_types_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_static_methods_classrtabmap_1_1Registration"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Registration')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></td></tr>
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<tr class="memitem:a516e8d64cdb3e7a743a3aa40ab026def inherit pub_static_methods_classrtabmap_1_1Registration" id="r_a516e8d64cdb3e7a743a3aa40ab026def"><td class="memItemLeft" align="right" valign="top">
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static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> * </td><td class="memItemRight" valign="bottom"><b>create</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters)</td></tr>
|
||||
<tr class="memdesc:a516e8d64cdb3e7a743a3aa40ab026def inherit pub_static_methods_classrtabmap_1_1Registration"><td class="mdescLeft"> </td><td class="mdescRight">Creates a registration from <b>Reg/Strategy</b> in <code>parameters</code>. Caller owns the pointer. <br /></td></tr>
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<tr class="memitem:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration" id="r_a1e3493a850551c98f9e814fed74400e6"><td class="memItemLeft" align="right" valign="top">
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static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> * </td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">Type</a> &type, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
|
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<tr class="memdesc:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration"><td class="mdescLeft"> </td><td class="mdescRight">Creates a registration of <code>type</code> (may be adjusted, e.g. to <a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724">kTypeVis</a>). Caller owns the pointer. <br /></td></tr>
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<tr class="separator:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_static_attribs_classrtabmap_1_1Registration"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classrtabmap_1_1Registration')"><img src="closed.png" alt="-"/> Static Public Attributes inherited from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></td></tr>
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<tr class="memitem:a7c8c2d7a65357ef9f5d60ce3f763f4b3 inherit pub_static_attribs_classrtabmap_1_1Registration" id="r_a7c8c2d7a65357ef9f5d60ce3f763f4b3"><td class="memItemLeft" align="right" valign="top">static double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Registration.html#a7c8c2d7a65357ef9f5d60ce3f763f4b3">COVARIANCE_LINEAR_EPSILON</a></td></tr>
|
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<tr class="memdesc:a7c8c2d7a65357ef9f5d60ce3f763f4b3 inherit pub_static_attribs_classrtabmap_1_1Registration"><td class="mdescLeft"> </td><td class="mdescRight">Minimum diagonal value for linear covariance (m²). <br /></td></tr>
|
||||
@@ -400,6 +410,34 @@ static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *
|
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<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00077">77</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
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<a id="a9fd0ba3453d2c658d8a9b1cee5ba132c" name="a9fd0ba3453d2c658d8a9b1cee5ba132c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a9fd0ba3453d2c658d8a9b1cee5ba132c">◆ </a></span>getNNTypeName()</h2>
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<td class="memname">std::string rtabmap::RegistrationVis::getNNTypeName </td>
|
||||
<td>(</td>
|
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<td class="paramname"></td><td>)</td>
|
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<td> const</td>
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<dl class="section return"><dt>Returns</dt><dd>Name of the <b>Vis/CorNNType</b> nearest-neighbor strategy in use. </dd></dl>
|
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|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00079">79</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="aed9e9e593b290a4be1aeda05967a631a" name="aed9e9e593b290a4be1aeda05967a631a"></a>
|
||||
@@ -426,7 +464,7 @@ static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd><b>Vis/CorNNDR</b> ratio test threshold. </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00079">79</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00086">86</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -454,7 +492,7 @@ static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd><b>Vis/EstimationType</b> (0: 3D→3D, 1: PnP, 2: epipolar). </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00081">81</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00088">88</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -482,7 +520,7 @@ static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *
|
||||
</div><div class="memdoc">
|
||||
<dl class="section return"><dt>Returns</dt><dd>Feature detector used for the “from” signature. </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00084">84</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00091">91</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -564,7 +602,7 @@ static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *
|
||||
|
||||
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a>.</p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00093">93</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00100">100</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -593,7 +631,7 @@ static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *
|
||||
|
||||
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a>.</p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00094">94</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00101">101</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -622,7 +660,7 @@ static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *
|
||||
|
||||
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a>.</p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00095">95</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="RegistrationVis_8h_source.html#l00102">102</a> of file <a class="el" href="RegistrationVis_8h_source.html">RegistrationVis.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@@ -6,6 +6,7 @@ var classrtabmap_1_1RegistrationVis =
|
||||
[ "getIterations", "classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834", null ],
|
||||
[ "getMinInliers", "classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4", null ],
|
||||
[ "getNNType", "classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347", null ],
|
||||
[ "getNNTypeName", "classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c", null ],
|
||||
[ "getNNDR", "classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a", null ],
|
||||
[ "getEstimationType", "classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31", null ],
|
||||
[ "getDetector", "classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55", null ],
|
||||
|
||||
@@ -141,8 +141,10 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1VWDictionary.html','')
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">kNNBruteForce</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">kNNBruteForceGPU</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">kNNFlannKdTree</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">kNNFlannLSH</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">kNNFlannNaive</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1">kNNFlannKdTreeSingle</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">kNNFlannLSH</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">kNNFlannNaive</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7">kNNNanoFlannKdTree</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9">kNNUndef</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> enum name</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">nnStrategyName</a>(NNStrategy strategy)</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
|
||||
|
||||
@@ -124,6 +124,8 @@ Public Types</h2></td></tr>
|
||||
, <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">kNNBruteForce</a>
|
||||
, <br />
|
||||
  <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">kNNBruteForceGPU</a>
|
||||
, <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1">kNNFlannKdTreeSingle</a>
|
||||
, <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7">kNNNanoFlannKdTree</a>
|
||||
, <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9">kNNUndef</a>
|
||||
<br />
|
||||
}</td></tr>
|
||||
@@ -310,6 +312,7 @@ Protected Attributes</h2></td></tr>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Nearest neighbor search strategies for descriptor matching. </p>
|
||||
<p>The values are those of the Kp/NNStrategy parameter, saved in user configurations and databases: append, never renumber. The Vis/CorNNType parameter has strategies of its own, its values are mapped to these ones by RegistrationVis::nnStrategyFromCorNNType(). </p>
|
||||
<table class="fieldtable">
|
||||
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0" name="a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0"></a>kNNFlannNaive </td><td class="fielddoc"><p>FLANN naive search (exhaustive) </p>
|
||||
</td></tr>
|
||||
@@ -321,11 +324,15 @@ Protected Attributes</h2></td></tr>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451" name="a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"></a>kNNBruteForceGPU </td><td class="fielddoc"><p>Brute force GPU-accelerated search (requires CUDA) </p>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1" name="a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1"></a>kNNFlannKdTreeSingle </td><td class="fielddoc"><p>FLANN single exact kd-tree index (rebuilt whenever a word is added, for an index built once) </p>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7" name="a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7"></a>kNNNanoFlannKdTree </td><td class="fielddoc"><p>nanoflann kd-tree index (float descriptors only, incremental) </p>
|
||||
</td></tr>
|
||||
<tr><td class="fieldname"><a id="a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9" name="a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9"></a>kNNUndef </td><td class="fielddoc"><p>Undefined strategy. </p>
|
||||
</td></tr>
|
||||
</table>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00072">72</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00077">77</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -418,7 +425,7 @@ Protected Attributes</h2></td></tr>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>String representation of the strategy name </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00096">96</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00103">103</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -787,7 +794,7 @@ Protected Attributes</h2></td></tr>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00232">232</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00245">245</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -817,7 +824,7 @@ Protected Attributes</h2></td></tr>
|
||||
<p>Get all visual words. </p>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Map of visual word ID to <a class="el" href="classrtabmap_1_1VisualWord.html" title="Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.">VisualWord</a> pointer </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00238">238</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00251">251</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -850,7 +857,7 @@ Protected Attributes</h2></td></tr>
|
||||
<dl class="section note"><dt>Note</dt><dd>The NNDR method was introduced in "Distinctive Image Features
|
||||
from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00251">251</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00264">264</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -880,7 +887,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Get the count of words not yet indexed in the search tree. </p>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Number of words waiting to be indexed </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00257">257</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00270">270</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -930,7 +937,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Get the total number of active word-to-signature references. </p>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Total count of active references </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00269">269</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00282">282</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1048,7 +1055,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Get the current nearest neighbor search strategy. </p>
|
||||
<dl class="section return"><dt>Returns</dt><dd>The current NNStrategy </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00302">302</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00315">315</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1078,7 +1085,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Check if the dictionary is in incremental mode. </p>
|
||||
<dl class="section return"><dt>Returns</dt><dd>true if incremental, false if fixed </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00308">308</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00321">321</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1108,7 +1115,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Check if FLANN index is updated incrementally. </p>
|
||||
<dl class="section return"><dt>Returns</dt><dd>true if incremental FLANN updates are enabled </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00314">314</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00327">327</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1397,7 +1404,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Get the count of unused visual words. </p>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Number of unused words </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00404">404</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00417">417</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1599,7 +1606,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
|
||||
<p>Starting ID for visual words (typically 1) </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00084">84</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00091">91</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1625,7 +1632,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
|
||||
<p>Invalid visual word ID (typically 0) </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00089">89</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00096">96</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1652,7 +1659,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Map of visual word ID to <a class="el" href="classrtabmap_1_1VisualWord.html" title="Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.">VisualWord</a> pointer. </p>
|
||||
<dl class="section note"><dt>Note</dt><dd>All visual words (used and unused) are stored here </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00461">461</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00474">474</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1679,7 +1686,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004). </dd></dl>
|
||||
<p>Total count of active word-to-signature references. </p>
|
||||
<dl class="section note"><dt>Note</dt><dd>Used to track all references for updating common signatures </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00467">467</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="VWDictionary_8h_source.html#l00480">480</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@@ -6,6 +6,8 @@ var classrtabmap_1_1VWDictionary =
|
||||
[ "kNNFlannLSH", "classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992", null ],
|
||||
[ "kNNBruteForce", "classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d", null ],
|
||||
[ "kNNBruteForceGPU", "classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451", null ],
|
||||
[ "kNNFlannKdTreeSingle", "classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1", null ],
|
||||
[ "kNNNanoFlannKdTree", "classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7", null ],
|
||||
[ "kNNUndef", "classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9", null ]
|
||||
] ],
|
||||
[ "VWDictionary", "classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734", null ],
|
||||
|
||||
@@ -116,6 +116,7 @@ $(document).ready(function(){initNavTree('functions_a.html',''); initResizable()
|
||||
<li>addLinks() : <a class="el" href="classrtabmap_1_1Signature.html#aa8513c4ecb77c38b95610834c66e893e">rtabmap::Signature</a></li>
|
||||
<li>addNewWords() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">rtabmap::VWDictionary</a></li>
|
||||
<li>addNodesToRepublish() : <a class="el" href="classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232">rtabmap::Rtabmap</a></li>
|
||||
<li>addPoints() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">rtabmap::FlannIndex</a></li>
|
||||
<li>addRef() : <a class="el" href="classrtabmap_1_1VisualWord.html#a5826c6a57f9115e6766bb60e2628fe30">rtabmap::VisualWord</a></li>
|
||||
<li>addSignatureData() : <a class="el" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd">rtabmap::Statistics</a></li>
|
||||
<li>addStatistic() : <a class="el" href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79">rtabmap::Statistics</a></li>
|
||||
|
||||
@@ -108,6 +108,7 @@ $(document).ready(function(){initNavTree('functions_b.html',''); initResizable()
|
||||
<li>bin_depth_ : <a class="el" href="classclams_1_1DiscreteDepthDistortionModel.html#a1bd63eed7f9ca2759dcf4975b4f2f951">clams::DiscreteDepthDistortionModel</a></li>
|
||||
<li>bin_height_ : <a class="el" href="classclams_1_1DiscreteDepthDistortionModel.html#ae74671d8a3dd71c5fa3f3b44d163ba0c">clams::DiscreteDepthDistortionModel</a></li>
|
||||
<li>bin_width_ : <a class="el" href="classclams_1_1DiscreteDepthDistortionModel.html#acbc26d0d0feddc1a7f27eca81b39dd20">clams::DiscreteDepthDistortionModel</a></li>
|
||||
<li>buildIndex() : <a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">rtabmap::FlannIndex</a></li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
|
||||
@@ -105,7 +105,7 @@ $(document).ready(function(){initNavTree('functions_c.html',''); initResizable()
|
||||
<li>Camera() : <a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li>
|
||||
<li>camera() : <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li>
|
||||
<li>cameraIndex : <a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">rtabmap::FeatureBA</a></li>
|
||||
<li>CameraModel() : <a class="el" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">rtabmap::CameraModel</a></li>
|
||||
<li>CameraModel() : <a class="el" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">rtabmap::CameraModel</a></li>
|
||||
<li>cameraModels() : <a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li>
|
||||
<li>cameraName : <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">rtabmap::SensorCaptureInfo</a>, <a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li>
|
||||
<li>canParseString() : <a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li>
|
||||
|
||||
@@ -101,6 +101,7 @@ $(document).ready(function(){initNavTree('functions_enum.html',''); initResizabl
|
||||
<div class="textblock">Here is a list of all documented enums with links to the class documentation for each member:</div><ul>
|
||||
<li>Cmd : <a class="el" href="classrtabmap_1_1RtabmapEventCmd.html#ae54b1ecc5d6df8b032a89f5b24876801">rtabmap::RtabmapEventCmd</a></li>
|
||||
<li>Code : <a class="el" href="classrtabmap_1_1SensorEvent.html#a8a1c7b859ae730c1e0ade9fa5e302a66">rtabmap::SensorEvent</a></li>
|
||||
<li>flann_algorithm_t : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">rtabmap::FlannIndex</a></li>
|
||||
<li>Format : <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">rtabmap::LaserScan</a></li>
|
||||
<li>IcpStrategy : <a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">rtabmap::RegistrationIcp</a></li>
|
||||
<li>Level : <a class="el" href="classULogger.html#a4f71cd491aa60029eb6ea4bf79c06218">ULogger</a></li>
|
||||
|
||||
@@ -100,6 +100,14 @@ $(document).ready(function(){initNavTree('functions_eval.html',''); initResizabl
|
||||
<div class="contents">
|
||||
<div class="textblock">Here is a list of all documented enum values with links to the class documentation for each member:</div>
|
||||
|
||||
<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
|
||||
<li>FLANN_INDEX_KDTREE : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d">rtabmap::FlannIndex</a></li>
|
||||
<li>FLANN_INDEX_KDTREE_SINGLE : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081">rtabmap::FlannIndex</a></li>
|
||||
<li>FLANN_INDEX_LINEAR : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818">rtabmap::FlannIndex</a></li>
|
||||
<li>FLANN_INDEX_LSH : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8">rtabmap::FlannIndex</a></li>
|
||||
</ul>
|
||||
|
||||
|
||||
<h3><a id="index_k" name="index_k"></a>- k -</h3><ul>
|
||||
<li>kAllWithLandmarks : <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac">rtabmap::Link</a></li>
|
||||
<li>kAllWithoutLandmarks : <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5">rtabmap::Link</a></li>
|
||||
@@ -164,8 +172,10 @@ $(document).ready(function(){initNavTree('functions_eval.html',''); initResizabl
|
||||
<li>kNNBruteForce : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNBruteForceGPU : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannKdTree : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannKdTreeSingle : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannLSH : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannNaive : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNNanoFlannKdTree : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNUndef : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9">rtabmap::VWDictionary</a></li>
|
||||
<li>kPosePrior : <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1">rtabmap::Link</a></li>
|
||||
<li>kSelfRefLink : <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e">rtabmap::Link</a></li>
|
||||
@@ -228,6 +238,11 @@ $(document).ready(function(){initNavTree('functions_eval.html',''); initResizabl
|
||||
<li>kXYZRGB : <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829">rtabmap::LaserScan</a></li>
|
||||
<li>kXYZRGBNormal : <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07">rtabmap::LaserScan</a></li>
|
||||
</ul>
|
||||
|
||||
|
||||
<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
|
||||
<li>NANOFLANN_INDEX_KDTREE_SINGLE : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3">rtabmap::FlannIndex</a></li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
|
||||
@@ -103,6 +103,8 @@ $(document).ready(function(){initNavTree('functions_f.html',''); initResizable()
|
||||
<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
|
||||
<li>F() : <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c">rtabmap::StereoCameraModel</a></li>
|
||||
<li>features : <a class="el" href="classrtabmap_1_1OdometryInfo.html#a736c2515b2347de6e1c6099a727aea8c">rtabmap::OdometryInfo</a></li>
|
||||
<li>featuresDim() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">rtabmap::FlannIndex</a></li>
|
||||
<li>featuresType() : <a class="el" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">rtabmap::FlannIndex</a></li>
|
||||
<li>field() : <a class="el" href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d">rtabmap::LaserScan</a></li>
|
||||
<li>filterKeypointsByDepth() : <a class="el" href="classrtabmap_1_1Feature2D.html#aadbb5a7611eb94ea6925115999bc0f4e">rtabmap::Feature2D</a></li>
|
||||
<li>filterKeypointsByDisparity() : <a class="el" href="classrtabmap_1_1Feature2D.html#a32fa09026282be6a729483bfe57d31ec">rtabmap::Feature2D</a></li>
|
||||
@@ -111,6 +113,11 @@ $(document).ready(function(){initNavTree('functions_f.html',''); initResizable()
|
||||
<li>findPairs() : <a class="el" href="classrtabmap_1_1EpipolarGeometry.html#ace979984a7d97ccaa18bf0764318d342">rtabmap::EpipolarGeometry</a></li>
|
||||
<li>findPairsAll() : <a class="el" href="classrtabmap_1_1EpipolarGeometry.html#adfcc58ee756cb99887c6d8807bc7104c">rtabmap::EpipolarGeometry</a></li>
|
||||
<li>findPairsUnique() : <a class="el" href="classrtabmap_1_1EpipolarGeometry.html#a7c3886c647a098d33a88640ed2477e24">rtabmap::EpipolarGeometry</a></li>
|
||||
<li>flann_algorithm_t : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">rtabmap::FlannIndex</a></li>
|
||||
<li>FLANN_INDEX_KDTREE : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d">rtabmap::FlannIndex</a></li>
|
||||
<li>FLANN_INDEX_KDTREE_SINGLE : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081">rtabmap::FlannIndex</a></li>
|
||||
<li>FLANN_INDEX_LINEAR : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818">rtabmap::FlannIndex</a></li>
|
||||
<li>FLANN_INDEX_LSH : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8">rtabmap::FlannIndex</a></li>
|
||||
<li>flush() : <a class="el" href="classULogger.html#a701ad6b99c9040cf3b5d47711e9f6d6a">ULogger</a></li>
|
||||
<li>force3DoF() : <a class="el" href="classrtabmap_1_1Registration.html#abb255bdab60a262f9cfc5d868e50cc9c">rtabmap::Registration</a></li>
|
||||
<li>forget() : <a class="el" href="classrtabmap_1_1Memory.html#a51e89ccab2261912b09a5b7178fdd46c">rtabmap::Memory</a></li>
|
||||
|
||||
@@ -116,6 +116,7 @@ $(document).ready(function(){initNavTree('functions_func.html',''); initResizabl
|
||||
<li>addLinks() : <a class="el" href="classrtabmap_1_1Signature.html#aa8513c4ecb77c38b95610834c66e893e">rtabmap::Signature</a></li>
|
||||
<li>addNewWords() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">rtabmap::VWDictionary</a></li>
|
||||
<li>addNodesToRepublish() : <a class="el" href="classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232">rtabmap::Rtabmap</a></li>
|
||||
<li>addPoints() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">rtabmap::FlannIndex</a></li>
|
||||
<li>addRef() : <a class="el" href="classrtabmap_1_1VisualWord.html#a5826c6a57f9115e6766bb60e2628fe30">rtabmap::VisualWord</a></li>
|
||||
<li>addSignatureData() : <a class="el" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd">rtabmap::Statistics</a></li>
|
||||
<li>addStatistic() : <a class="el" href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79">rtabmap::Statistics</a></li>
|
||||
|
||||
@@ -105,6 +105,7 @@ $(document).ready(function(){initNavTree('functions_func_b.html',''); initResiza
|
||||
<li>baseline() : <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a8dc48f95fcf68eb81da96941f778535f">rtabmap::StereoCameraModel</a></li>
|
||||
<li>BayesFilter() : <a class="el" href="classrtabmap_1_1BayesFilter.html#a2955edc4b79110b5bd1bd03f1616056e">rtabmap::BayesFilter</a></li>
|
||||
<li>bearing() : <a class="el" href="classrtabmap_1_1GPS.html#a9285c1d2e97f83dc0b8df3666b912169">rtabmap::GPS</a></li>
|
||||
<li>buildIndex() : <a class="el" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">rtabmap::FlannIndex</a></li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
|
||||
@@ -104,7 +104,7 @@ $(document).ready(function(){initNavTree('functions_func_c.html',''); initResiza
|
||||
<li>cache() : <a class="el" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">rtabmap::GlobalMap</a></li>
|
||||
<li>Camera() : <a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li>
|
||||
<li>camera() : <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li>
|
||||
<li>CameraModel() : <a class="el" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">rtabmap::CameraModel</a></li>
|
||||
<li>CameraModel() : <a class="el" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">rtabmap::CameraModel</a></li>
|
||||
<li>cameraModels() : <a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li>
|
||||
<li>cameraName() : <a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li>
|
||||
<li>canParseString() : <a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li>
|
||||
|
||||
@@ -102,6 +102,8 @@ $(document).ready(function(){initNavTree('functions_func_f.html',''); initResiza
|
||||
|
||||
<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
|
||||
<li>F() : <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c">rtabmap::StereoCameraModel</a></li>
|
||||
<li>featuresDim() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">rtabmap::FlannIndex</a></li>
|
||||
<li>featuresType() : <a class="el" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">rtabmap::FlannIndex</a></li>
|
||||
<li>field() : <a class="el" href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d">rtabmap::LaserScan</a></li>
|
||||
<li>filterKeypointsByDepth() : <a class="el" href="classrtabmap_1_1Feature2D.html#aadbb5a7611eb94ea6925115999bc0f4e">rtabmap::Feature2D</a></li>
|
||||
<li>filterKeypointsByDisparity() : <a class="el" href="classrtabmap_1_1Feature2D.html#a32fa09026282be6a729483bfe57d31ec">rtabmap::Feature2D</a></li>
|
||||
|
||||
@@ -205,10 +205,11 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
|
||||
<li>getNndrRatio() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">rtabmap::VWDictionary</a></li>
|
||||
<li>getNNStrategy() : <a class="el" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">rtabmap::VWDictionary</a></li>
|
||||
<li>getNNType() : <a class="el" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">rtabmap::RegistrationVis</a></li>
|
||||
<li>getNNTypeName() : <a class="el" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">rtabmap::RegistrationVis</a></li>
|
||||
<li>getNodeCalibration() : <a class="el" href="classrtabmap_1_1Memory.html#af48dbd905dda453b6b2c2246a90d0e04">rtabmap::Memory</a></li>
|
||||
<li>getNodeData() : <a class="el" href="classrtabmap_1_1Memory.html#a22d6c0b38d8699cdbba73b6bcdb38dd6">rtabmap::Memory</a></li>
|
||||
<li>getNodeInfo() : <a class="el" href="classrtabmap_1_1Memory.html#ae6184a6979703045f34d3e2a155eb9f3">rtabmap::Memory</a></li>
|
||||
<li>getNodesInRadius() : <a class="el" href="classrtabmap_1_1Rtabmap.html#a1a6498f60f52f65ffbed2d89d7c20648">rtabmap::Rtabmap</a></li>
|
||||
<li>getNodesInRadius() : <a class="el" href="classrtabmap_1_1Rtabmap.html#a9bd263bbcdbc6f41119f8532131db974">rtabmap::Rtabmap</a></li>
|
||||
<li>getNodesObservingLandmark() : <a class="el" href="classrtabmap_1_1Memory.html#afe7a1c036129e7ec94905c3650e91cc8">rtabmap::Memory</a></li>
|
||||
<li>getNodeWordsAndGlobalDescriptors() : <a class="el" href="classrtabmap_1_1Memory.html#a4c555fac41be4b4d44c551c010971dc3">rtabmap::Memory</a></li>
|
||||
<li>getNorm() : <a class="el" href="classrtabmap_1_1Transform.html#af3c46b76fe855b0334a7f255792a6082">rtabmap::Transform</a></li>
|
||||
|
||||
@@ -107,10 +107,11 @@ $(document).ready(function(){initNavTree('functions_func_i.html',''); initResiza
|
||||
<li>imagesAlreadyRectified() : <a class="el" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">rtabmap::Odometry</a></li>
|
||||
<li>IMU() : <a class="el" href="classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483">rtabmap::IMU</a></li>
|
||||
<li>imu() : <a class="el" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">rtabmap::SensorData</a></li>
|
||||
<li>IMUEvent() : <a class="el" href="classrtabmap_1_1IMUEvent.html#af041b297fa5f621dbc4fd085b16da800">rtabmap::IMUEvent</a></li>
|
||||
<li>IMUEvent() : <a class="el" href="classrtabmap_1_1IMUEvent.html#a1ab86d7c16b1cadb44f0440808a9a81b">rtabmap::IMUEvent</a></li>
|
||||
<li>imus() : <a class="el" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">rtabmap::Odometry</a></li>
|
||||
<li>IMUThread() : <a class="el" href="classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3">rtabmap::IMUThread</a></li>
|
||||
<li>incrementMapId() : <a class="el" href="classrtabmap_1_1Memory.html#afce9dbf3e5657d65540e33c59e992d83">rtabmap::Memory</a></li>
|
||||
<li>indexedFeatures() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">rtabmap::FlannIndex</a></li>
|
||||
<li>info() : <a class="el" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">rtabmap::OdometryEvent</a>, <a class="el" href="classrtabmap_1_1SensorEvent.html#a89ec0e00ab443a71b4735e392e419331">rtabmap::SensorEvent</a></li>
|
||||
<li>inFrame() : <a class="el" href="classrtabmap_1_1CameraModel.html#aa07cbe07c7893e726c408392cf54d9ca">rtabmap::CameraModel</a></li>
|
||||
<li>init() : <a class="el" href="classrtabmap_1_1CameraDepthAI.html#aeab341a67f8c9ef3a078ef4636f969c1">rtabmap::CameraDepthAI</a>, <a class="el" href="classrtabmap_1_1CameraFreenect2.html#aab9ed1bf2f64c6b8f6f95e25f94c4a8f">rtabmap::CameraFreenect2</a>, <a class="el" href="classrtabmap_1_1CameraFreenect.html#aa36a4142ea9e7dab7120690b1d4a7449">rtabmap::CameraFreenect</a>, <a class="el" href="classrtabmap_1_1CameraImages.html#a8f00b6eb8c78a66d3381877825d70206">rtabmap::CameraImages</a>, <a class="el" href="classrtabmap_1_1CameraK4A.html#af2c611c697451697f318405469bb23e8">rtabmap::CameraK4A</a>, <a class="el" href="classrtabmap_1_1CameraK4W2.html#a33aec7e8863ddd2815a983a71e869127">rtabmap::CameraK4W2</a>, <a class="el" href="classrtabmap_1_1CameraMyntEye.html#a368591c828d3bb5aabfe8cae56d01304">rtabmap::CameraMyntEye</a>, <a class="el" href="classrtabmap_1_1CameraOpenNI2.html#a0c0da722b985da3595896fcc6bc72c7b">rtabmap::CameraOpenNI2</a>, <a class="el" href="classrtabmap_1_1CameraOpenni.html#aaa00fc3850c747fb261c87d4ad54827f">rtabmap::CameraOpenni</a>, <a class="el" href="classrtabmap_1_1CameraOpenNICV.html#a4d636b36e01de97d35fb0b6bb5fc3b7d">rtabmap::CameraOpenNICV</a>, <a class="el" href="classrtabmap_1_1CameraOrbbecSDK.html#a3a99d50d119791b9d3a36056aaddf59a">rtabmap::CameraOrbbecSDK</a>, <a class="el" href="classrtabmap_1_1CameraRealSense2.html#a7efbcb280ddd451a9c8fdbdba599c68f">rtabmap::CameraRealSense2</a>, <a class="el" href="classrtabmap_1_1CameraRealSense.html#a8c94957c92c38eee0d9ebbfd75d35a10">rtabmap::CameraRealSense</a>, <a class="el" href="classrtabmap_1_1CameraRGBDImages.html#a21903042693fbbc0bfc1586225efb2dd">rtabmap::CameraRGBDImages</a>, <a class="el" href="classrtabmap_1_1CameraSeerSense.html#a2fb66c8fa789c747b12c4ce85c8fc874">rtabmap::CameraSeerSense</a>, <a class="el" href="classrtabmap_1_1CameraStereoDC1394.html#a2cc861b0f7c66b8e21267678f6f5f221">rtabmap::CameraStereoDC1394</a>, <a class="el" href="classrtabmap_1_1CameraStereoFlyCapture2.html#a46a2477a1c151927c9d5e7eea51d3354">rtabmap::CameraStereoFlyCapture2</a>, <a class="el" href="classrtabmap_1_1CameraStereoImages.html#abc0cb4bfd56314d0003c6ce5d365cbca">rtabmap::CameraStereoImages</a>, <a class="el" href="classrtabmap_1_1CameraStereoTara.html#a3cd79ca07d74d6a3501f3ecd9b31bbef">rtabmap::CameraStereoTara</a>, <a class="el" href="classrtabmap_1_1CameraStereoVideo.html#a8bc165fb5c77bb9693203791a0888269">rtabmap::CameraStereoVideo</a>, <a class="el" href="classrtabmap_1_1CameraStereoZed.html#a80088853404d1c4e89b5f29933d7b020">rtabmap::CameraStereoZed</a>, <a class="el" href="classrtabmap_1_1CameraStereoZedOC.html#a37264abe58baa727bb5ee8d6653fa443">rtabmap::CameraStereoZedOC</a>, <a class="el" href="classrtabmap_1_1CameraVideo.html#a2b20fb67f20ec64e6c43e8d76d5c1f74">rtabmap::CameraVideo</a>, <a class="el" href="classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e">rtabmap::DBReader</a>, <a class="el" href="classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d">rtabmap::IMUThread</a>, <a class="el" href="classrtabmap_1_1LidarVLP16.html#a80162804e05013f64c6868084f460ab0">rtabmap::LidarVLP16</a>, <a class="el" href="classrtabmap_1_1Memory.html#aeeabc78648bf7dc14ea1356828cdeddd">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b">rtabmap::Rtabmap</a>, <a class="el" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">rtabmap::SensorCapture</a></li>
|
||||
@@ -124,6 +125,7 @@ $(document).ready(function(){initNavTree('functions_func_i.html',''); initResiza
|
||||
<li>isBadSignature() : <a class="el" href="classrtabmap_1_1Signature.html#a693874de0d6ede4fe5c5d43d6f4d8b55">rtabmap::Signature</a></li>
|
||||
<li>isBinDataKept() : <a class="el" href="classrtabmap_1_1Memory.html#a18a6e852d545751fbc348d2aae6d7fe0">rtabmap::Memory</a></li>
|
||||
<li>isBool() : <a class="el" href="classUVariant.html#a1f5b265f0e4569021bd6bc212cae91f7">UVariant</a></li>
|
||||
<li>isBuilt() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">rtabmap::FlannIndex</a></li>
|
||||
<li>isCapturing() : <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ab2654b31ebdf06b375045fadbc83731a">rtabmap::SensorCaptureThread</a></li>
|
||||
<li>isChar() : <a class="el" href="classUVariant.html#a644e3deffa081cacfdadddc1f504e6b6">UVariant</a></li>
|
||||
<li>isCharArray() : <a class="el" href="classUVariant.html#ab17409bb37beec9c62defdbe398dfe8b">UVariant</a></li>
|
||||
|
||||
@@ -310,6 +310,7 @@ $(document).ready(function(){initNavTree('functions_func_k.html',''); initResiza
|
||||
<li>kMemTransferSortingByWeightId() : <a class="el" href="classrtabmap_1_1Parameters.html#aea65d81db6cbca6869d7ee1b8e1003a7">rtabmap::Parameters</a></li>
|
||||
<li>kMemUseOdomFeatures() : <a class="el" href="classrtabmap_1_1Parameters.html#a2f9669812fc65ec213e54b97e71ba6fd">rtabmap::Parameters</a></li>
|
||||
<li>kMemUseOdomGravity() : <a class="el" href="classrtabmap_1_1Parameters.html#ab53fe6e9b2e23d37c6a7af8f52354848">rtabmap::Parameters</a></li>
|
||||
<li>knnSearch() : <a class="el" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">rtabmap::FlannIndex</a></li>
|
||||
<li>kOdomAlignWithGround() : <a class="el" href="classrtabmap_1_1Parameters.html#af7560d62a725e93669225843403625e5">rtabmap::Parameters</a></li>
|
||||
<li>kOdomCuVSLAMMulticamMode() : <a class="el" href="classrtabmap_1_1Parameters.html#a27425f8e3e56f5a804d0dd5be78b9788">rtabmap::Parameters</a></li>
|
||||
<li>kOdomDeskewing() : <a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208">rtabmap::Parameters</a></li>
|
||||
|
||||
@@ -120,8 +120,9 @@ $(document).ready(function(){initNavTree('functions_func_l.html',''); initResiza
|
||||
<li>linearAcceleration() : <a class="el" href="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a">rtabmap::IMU</a></li>
|
||||
<li>linearAccelerationCovariance() : <a class="el" href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">rtabmap::IMU</a></li>
|
||||
<li>Link() : <a class="el" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">rtabmap::Link</a></li>
|
||||
<li>load() : <a class="el" href="classrtabmap_1_1CameraModel.html#abe9b3c87c086fd33286c01361e454056">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a9c2d94b9bc335fdec7f5fa4f4c45a07c">rtabmap::StereoCameraModel</a></li>
|
||||
<li>load() : <a class="el" href="classrtabmap_1_1CameraModel.html#a2c2ff6db9029c3ee219642d7e48b04fa">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a9c2d94b9bc335fdec7f5fa4f4c45a07c">rtabmap::StereoCameraModel</a></li>
|
||||
<li>load2DMap() : <a class="el" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a">rtabmap::DBDriver</a>, <a class="el" href="classrtabmap_1_1Memory.html#a9a71f27d0de4f7e6400ca470a82be19d">rtabmap::Memory</a></li>
|
||||
<li>loadIndex() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">rtabmap::FlannIndex</a></li>
|
||||
<li>loadLinks() : <a class="el" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d">rtabmap::DBDriver</a></li>
|
||||
<li>loadOptimizedMesh() : <a class="el" href="classrtabmap_1_1Memory.html#a0827d1d23744b3693f00e518e1b0fda8">rtabmap::Memory</a></li>
|
||||
<li>loadOptimizedPoses() : <a class="el" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55">rtabmap::DBDriver</a>, <a class="el" href="classrtabmap_1_1Memory.html#a9e2972a53619456d75ad923fb5e9bc7e">rtabmap::Memory</a></li>
|
||||
|
||||
@@ -109,6 +109,7 @@ $(document).ready(function(){initNavTree('functions_func_m.html',''); initResiza
|
||||
<li>maxLevel() : <a class="el" href="classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5">rtabmap::Stereo</a></li>
|
||||
<li>Memory() : <a class="el" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4">rtabmap::Memory</a></li>
|
||||
<li>memoryChanged() : <a class="el" href="classrtabmap_1_1Memory.html#a8720df55fa6f8be933827808d364f20a">rtabmap::Memory</a></li>
|
||||
<li>memoryUsed() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">rtabmap::FlannIndex</a></li>
|
||||
<li>merge() : <a class="el" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">rtabmap::Link</a></li>
|
||||
<li>minDisparity() : <a class="el" href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742">rtabmap::Stereo</a></li>
|
||||
</ul>
|
||||
|
||||
@@ -103,6 +103,7 @@ $(document).ready(function(){initNavTree('functions_func_r.html',''); initResiza
|
||||
<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
|
||||
<li>R() : <a class="el" href="classrtabmap_1_1CameraModel.html#ad763246258ddf02c27873c2536901781">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">rtabmap::StereoCameraModel</a></li>
|
||||
<li>r11() : <a class="el" href="classrtabmap_1_1Transform.html#a1ea4c945ccf717677606fc7fe0331ccf">rtabmap::Transform</a></li>
|
||||
<li>radiusSearch() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">rtabmap::FlannIndex</a></li>
|
||||
<li>rawLikelihood() : <a class="el" href="classrtabmap_1_1Statistics.html#a472f50deace411e1fbbef95f4fb698de">rtabmap::Statistics</a></li>
|
||||
<li>reactivateSignatures() : <a class="el" href="classrtabmap_1_1Memory.html#aa244b8581684b85e35d2056cf972e377">rtabmap::Memory</a></li>
|
||||
<li>rectifyDepth() : <a class="el" href="classrtabmap_1_1CameraModel.html#a22cf7f5b49ef0cd8be08755010f6acb5">rtabmap::CameraModel</a></li>
|
||||
@@ -116,7 +117,7 @@ $(document).ready(function(){initNavTree('functions_func_r.html',''); initResiza
|
||||
<li>Registration() : <a class="el" href="classrtabmap_1_1Registration.html#a7d0ff4149da7f5839308ff543932b067">rtabmap::Registration</a></li>
|
||||
<li>RegistrationVis() : <a class="el" href="classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03">rtabmap::RegistrationVis</a></li>
|
||||
<li>rejectLastLoopClosure() : <a class="el" href="classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3">rtabmap::Rtabmap</a></li>
|
||||
<li>release() : <a class="el" href="classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5">USemaphore</a></li>
|
||||
<li>release() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">rtabmap::FlannIndex</a>, <a class="el" href="classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5">USemaphore</a></li>
|
||||
<li>removeAllRef() : <a class="el" href="classrtabmap_1_1VisualWord.html#a63364292bdd9921668187b16c2e0457e">rtabmap::VisualWord</a></li>
|
||||
<li>removeAllVirtualLinks() : <a class="el" href="classrtabmap_1_1Memory.html#a838b48bb9c2e6ccfe4f916ea2b2d00fd">rtabmap::Memory</a></li>
|
||||
<li>removeAllWordRef() : <a class="el" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">rtabmap::VWDictionary</a></li>
|
||||
@@ -127,12 +128,13 @@ $(document).ready(function(){initNavTree('functions_func_r.html',''); initResiza
|
||||
<li>removeLandmarks() : <a class="el" href="classrtabmap_1_1Signature.html#aa482e98fb247d40368a9aaa838fe3a5a">rtabmap::Signature</a></li>
|
||||
<li>removeLink() : <a class="el" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717">rtabmap::DBDriver</a>, <a class="el" href="classrtabmap_1_1Memory.html#a3fcaa79a33d63f7e383d05868b1316e3">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#abbd9806c2b20182217d2269c7398541e">rtabmap::Signature</a></li>
|
||||
<li>removeLinks() : <a class="el" href="classrtabmap_1_1Signature.html#a8d3e01853af1365fce62dd460dea816f">rtabmap::Signature</a></li>
|
||||
<li>removePoint() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">rtabmap::FlannIndex</a></li>
|
||||
<li>removeRawData() : <a class="el" href="classrtabmap_1_1Memory.html#acab72b1076370287ac28a1d464d480f0">rtabmap::Memory</a></li>
|
||||
<li>removeVirtualLinks() : <a class="el" href="classrtabmap_1_1Memory.html#aa77fb0f90185a274b3e9d0c609ce14ed">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#a328419f90f9dd8113dee4e38c9e30367">rtabmap::Signature</a></li>
|
||||
<li>removeWords() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">rtabmap::VWDictionary</a></li>
|
||||
<li>rename() : <a class="el" href="classUFile.html#a725e2edf4b5f603bfc688e96c76858d4">UFile</a></li>
|
||||
<li>repeatOnce() : <a class="el" href="classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864">rtabmap::Registration</a></li>
|
||||
<li>reproject() : <a class="el" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26">rtabmap::CameraModel</a></li>
|
||||
<li>reproject() : <a class="el" href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b">rtabmap::CameraModel</a></li>
|
||||
<li>reset() : <a class="el" href="classrtabmap_1_1BayesFilter.html#ad415ee334d31eebc3685e61862f32573">rtabmap::BayesFilter</a>, <a class="el" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b">rtabmap::IMUFilter</a>, <a class="el" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry</a>, <a class="el" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM</a>, <a class="el" href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO</a>, <a class="el" href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F</a>, <a class="el" href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M</a>, <a class="el" href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis</a>, <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3</a>, <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">rtabmap::OdometryVINSFusion</a>, <a class="el" href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2</a>, <a class="el" href="classULogger.html#a007b617547d616325e58003eb4352a19">ULogger</a></li>
|
||||
<li>resetMemory() : <a class="el" href="classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c">rtabmap::Rtabmap</a></li>
|
||||
<li>resetTimer() : <a class="el" href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">rtabmap::SensorCapture</a></li>
|
||||
|
||||
@@ -117,12 +117,12 @@ $(document).ready(function(){initNavTree('functions_func_s.html',''); initResiza
|
||||
<li>SensorCaptureInfo() : <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li>
|
||||
<li>SensorCaptureThread() : <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li>
|
||||
<li>SensorData() : <a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li>
|
||||
<li>sensorData() : <a class="el" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature</a></li>
|
||||
<li>SensorEvent() : <a class="el" href="classrtabmap_1_1SensorEvent.html#aa6c0584b85a70fe240f745c759948591">rtabmap::SensorEvent</a></li>
|
||||
<li>sensorData() : <a class="el" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature</a></li>
|
||||
<li>SensorEvent() : <a class="el" href="classrtabmap_1_1SensorEvent.html#aef6624e43c3f7f29684072782a377e20">rtabmap::SensorEvent</a></li>
|
||||
<li>separator() : <a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li>
|
||||
<li>serialize() : <a class="el" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel</a></li>
|
||||
<li>serializeData() : <a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">rtabmap::Statistics</a></li>
|
||||
<li>serializeIndex() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">rtabmap::VWDictionary</a></li>
|
||||
<li>serializeIndex() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">rtabmap::FlannIndex</a>, <a class="el" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">rtabmap::VWDictionary</a></li>
|
||||
<li>setAffinity() : <a class="el" href="classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8">UThread</a></li>
|
||||
<li>setAltitude() : <a class="el" href="classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e">rtabmap::GeodeticCoords</a></li>
|
||||
<li>setBuffered() : <a class="el" href="classULogger.html#ab981daf077b8afbf49c7bd185aa3b273">ULogger</a></li>
|
||||
|
||||
@@ -129,7 +129,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
|
||||
<li>toUShort() : <a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li>
|
||||
<li>toUShortArray() : <a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
|
||||
<li>transform() : <a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a></li>
|
||||
<li>Transform() : <a class="el" href="classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd">rtabmap::Transform</a></li>
|
||||
<li>Transform() : <a class="el" href="classrtabmap_1_1Transform.html#ac3654d3f6802d4b0c17b6110d1eda71a">rtabmap::Transform</a></li>
|
||||
<li>translation() : <a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li>
|
||||
<li>translationMatrix() : <a class="el" href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e">rtabmap::Transform</a></li>
|
||||
<li>transVariance() : <a class="el" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link</a></li>
|
||||
|
||||
@@ -205,6 +205,7 @@ $(document).ready(function(){initNavTree('functions_g.html',''); initResizable()
|
||||
<li>getNndrRatio() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">rtabmap::VWDictionary</a></li>
|
||||
<li>getNNStrategy() : <a class="el" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">rtabmap::VWDictionary</a></li>
|
||||
<li>getNNType() : <a class="el" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">rtabmap::RegistrationVis</a></li>
|
||||
<li>getNNTypeName() : <a class="el" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">rtabmap::RegistrationVis</a></li>
|
||||
<li>getNodeCalibration() : <a class="el" href="classrtabmap_1_1Memory.html#af48dbd905dda453b6b2c2246a90d0e04">rtabmap::Memory</a></li>
|
||||
<li>getNodeData() : <a class="el" href="classrtabmap_1_1Memory.html#a22d6c0b38d8699cdbba73b6bcdb38dd6">rtabmap::Memory</a></li>
|
||||
<li>getNodeInfo() : <a class="el" href="classrtabmap_1_1Memory.html#ae6184a6979703045f34d3e2a155eb9f3">rtabmap::Memory</a></li>
|
||||
|
||||
@@ -118,10 +118,11 @@ $(document).ready(function(){initNavTree('functions_i.html',''); initResizable()
|
||||
<li>imagesAlreadyRectified() : <a class="el" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">rtabmap::Odometry</a></li>
|
||||
<li>IMU() : <a class="el" href="classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483">rtabmap::IMU</a></li>
|
||||
<li>imu() : <a class="el" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">rtabmap::SensorData</a></li>
|
||||
<li>IMUEvent() : <a class="el" href="classrtabmap_1_1IMUEvent.html#af041b297fa5f621dbc4fd085b16da800">rtabmap::IMUEvent</a></li>
|
||||
<li>IMUEvent() : <a class="el" href="classrtabmap_1_1IMUEvent.html#a1ab86d7c16b1cadb44f0440808a9a81b">rtabmap::IMUEvent</a></li>
|
||||
<li>imus() : <a class="el" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">rtabmap::Odometry</a></li>
|
||||
<li>IMUThread() : <a class="el" href="classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3">rtabmap::IMUThread</a></li>
|
||||
<li>incrementMapId() : <a class="el" href="classrtabmap_1_1Memory.html#afce9dbf3e5657d65540e33c59e992d83">rtabmap::Memory</a></li>
|
||||
<li>indexedFeatures() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">rtabmap::FlannIndex</a></li>
|
||||
<li>info() : <a class="el" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">rtabmap::OdometryEvent</a>, <a class="el" href="classrtabmap_1_1SensorEvent.html#a89ec0e00ab443a71b4735e392e419331">rtabmap::SensorEvent</a></li>
|
||||
<li>inFrame() : <a class="el" href="classrtabmap_1_1CameraModel.html#aa07cbe07c7893e726c408392cf54d9ca">rtabmap::CameraModel</a></li>
|
||||
<li>init() : <a class="el" href="classrtabmap_1_1CameraDepthAI.html#aeab341a67f8c9ef3a078ef4636f969c1">rtabmap::CameraDepthAI</a>, <a class="el" href="classrtabmap_1_1CameraFreenect2.html#aab9ed1bf2f64c6b8f6f95e25f94c4a8f">rtabmap::CameraFreenect2</a>, <a class="el" href="classrtabmap_1_1CameraFreenect.html#aa36a4142ea9e7dab7120690b1d4a7449">rtabmap::CameraFreenect</a>, <a class="el" href="classrtabmap_1_1CameraImages.html#a8f00b6eb8c78a66d3381877825d70206">rtabmap::CameraImages</a>, <a class="el" href="classrtabmap_1_1CameraK4A.html#af2c611c697451697f318405469bb23e8">rtabmap::CameraK4A</a>, <a class="el" href="classrtabmap_1_1CameraK4W2.html#a33aec7e8863ddd2815a983a71e869127">rtabmap::CameraK4W2</a>, <a class="el" href="classrtabmap_1_1CameraMyntEye.html#a368591c828d3bb5aabfe8cae56d01304">rtabmap::CameraMyntEye</a>, <a class="el" href="classrtabmap_1_1CameraOpenNI2.html#a0c0da722b985da3595896fcc6bc72c7b">rtabmap::CameraOpenNI2</a>, <a class="el" href="classrtabmap_1_1CameraOpenni.html#aaa00fc3850c747fb261c87d4ad54827f">rtabmap::CameraOpenni</a>, <a class="el" href="classrtabmap_1_1CameraOpenNICV.html#a4d636b36e01de97d35fb0b6bb5fc3b7d">rtabmap::CameraOpenNICV</a>, <a class="el" href="classrtabmap_1_1CameraOrbbecSDK.html#a3a99d50d119791b9d3a36056aaddf59a">rtabmap::CameraOrbbecSDK</a>, <a class="el" href="classrtabmap_1_1CameraRealSense2.html#a7efbcb280ddd451a9c8fdbdba599c68f">rtabmap::CameraRealSense2</a>, <a class="el" href="classrtabmap_1_1CameraRealSense.html#a8c94957c92c38eee0d9ebbfd75d35a10">rtabmap::CameraRealSense</a>, <a class="el" href="classrtabmap_1_1CameraRGBDImages.html#a21903042693fbbc0bfc1586225efb2dd">rtabmap::CameraRGBDImages</a>, <a class="el" href="classrtabmap_1_1CameraSeerSense.html#a2fb66c8fa789c747b12c4ce85c8fc874">rtabmap::CameraSeerSense</a>, <a class="el" href="classrtabmap_1_1CameraStereoDC1394.html#a2cc861b0f7c66b8e21267678f6f5f221">rtabmap::CameraStereoDC1394</a>, <a class="el" href="classrtabmap_1_1CameraStereoFlyCapture2.html#a46a2477a1c151927c9d5e7eea51d3354">rtabmap::CameraStereoFlyCapture2</a>, <a class="el" href="classrtabmap_1_1CameraStereoImages.html#abc0cb4bfd56314d0003c6ce5d365cbca">rtabmap::CameraStereoImages</a>, <a class="el" href="classrtabmap_1_1CameraStereoTara.html#a3cd79ca07d74d6a3501f3ecd9b31bbef">rtabmap::CameraStereoTara</a>, <a class="el" href="classrtabmap_1_1CameraStereoVideo.html#a8bc165fb5c77bb9693203791a0888269">rtabmap::CameraStereoVideo</a>, <a class="el" href="classrtabmap_1_1CameraStereoZed.html#a80088853404d1c4e89b5f29933d7b020">rtabmap::CameraStereoZed</a>, <a class="el" href="classrtabmap_1_1CameraStereoZedOC.html#a37264abe58baa727bb5ee8d6653fa443">rtabmap::CameraStereoZedOC</a>, <a class="el" href="classrtabmap_1_1CameraVideo.html#a2b20fb67f20ec64e6c43e8d76d5c1f74">rtabmap::CameraVideo</a>, <a class="el" href="classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e">rtabmap::DBReader</a>, <a class="el" href="classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d">rtabmap::IMUThread</a>, <a class="el" href="classrtabmap_1_1LidarVLP16.html#a80162804e05013f64c6868084f460ab0">rtabmap::LidarVLP16</a>, <a class="el" href="classrtabmap_1_1Memory.html#aeeabc78648bf7dc14ea1356828cdeddd">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b">rtabmap::Rtabmap</a>, <a class="el" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">rtabmap::SensorCapture</a></li>
|
||||
@@ -142,6 +143,7 @@ $(document).ready(function(){initNavTree('functions_i.html',''); initResizable()
|
||||
<li>isBadSignature() : <a class="el" href="classrtabmap_1_1Signature.html#a693874de0d6ede4fe5c5d43d6f4d8b55">rtabmap::Signature</a></li>
|
||||
<li>isBinDataKept() : <a class="el" href="classrtabmap_1_1Memory.html#a18a6e852d545751fbc348d2aae6d7fe0">rtabmap::Memory</a></li>
|
||||
<li>isBool() : <a class="el" href="classUVariant.html#a1f5b265f0e4569021bd6bc212cae91f7">UVariant</a></li>
|
||||
<li>isBuilt() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">rtabmap::FlannIndex</a></li>
|
||||
<li>isCapturing() : <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ab2654b31ebdf06b375045fadbc83731a">rtabmap::SensorCaptureThread</a></li>
|
||||
<li>isChar() : <a class="el" href="classUVariant.html#a644e3deffa081cacfdadddc1f504e6b6">UVariant</a></li>
|
||||
<li>isCharArray() : <a class="el" href="classUVariant.html#ab17409bb37beec9c62defdbe398dfe8b">UVariant</a></li>
|
||||
|
||||
@@ -378,8 +378,11 @@ $(document).ready(function(){initNavTree('functions_k.html',''); initResizable()
|
||||
<li>kNNBruteForce : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNBruteForceGPU : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannKdTree : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannKdTreeSingle : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannLSH : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNFlannNaive : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">rtabmap::VWDictionary</a></li>
|
||||
<li>kNNNanoFlannKdTree : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7">rtabmap::VWDictionary</a></li>
|
||||
<li>knnSearch() : <a class="el" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">rtabmap::FlannIndex</a></li>
|
||||
<li>kNNUndef : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9">rtabmap::VWDictionary</a></li>
|
||||
<li>kOdomAlignWithGround() : <a class="el" href="classrtabmap_1_1Parameters.html#af7560d62a725e93669225843403625e5">rtabmap::Parameters</a></li>
|
||||
<li>kOdomCuVSLAMMulticamMode() : <a class="el" href="classrtabmap_1_1Parameters.html#a27425f8e3e56f5a804d0dd5be78b9788">rtabmap::Parameters</a></li>
|
||||
|
||||
@@ -123,9 +123,10 @@ $(document).ready(function(){initNavTree('functions_l.html',''); initResizable()
|
||||
<li>linearAccelerationCovariance() : <a class="el" href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">rtabmap::IMU</a></li>
|
||||
<li>linearLink : <a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321">rtabmap::graph::MaxGraphErrors</a></li>
|
||||
<li>linearRatio : <a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">rtabmap::graph::MaxGraphErrors</a></li>
|
||||
<li>Link() : <a class="el" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">rtabmap::Link</a></li>
|
||||
<li>Link() : <a class="el" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">rtabmap::Link</a></li>
|
||||
<li>load() : <a class="el" href="classrtabmap_1_1CameraModel.html#a2c2ff6db9029c3ee219642d7e48b04fa">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a9c2d94b9bc335fdec7f5fa4f4c45a07c">rtabmap::StereoCameraModel</a></li>
|
||||
<li>load2DMap() : <a class="el" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a">rtabmap::DBDriver</a>, <a class="el" href="classrtabmap_1_1Memory.html#a9a71f27d0de4f7e6400ca470a82be19d">rtabmap::Memory</a></li>
|
||||
<li>loadIndex() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">rtabmap::FlannIndex</a></li>
|
||||
<li>loadLinks() : <a class="el" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d">rtabmap::DBDriver</a></li>
|
||||
<li>loadOptimizedMesh() : <a class="el" href="classrtabmap_1_1Memory.html#a0827d1d23744b3693f00e518e1b0fda8">rtabmap::Memory</a></li>
|
||||
<li>loadOptimizedPoses() : <a class="el" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55">rtabmap::DBDriver</a>, <a class="el" href="classrtabmap_1_1Memory.html#a9e2972a53619456d75ad923fb5e9bc7e">rtabmap::Memory</a></li>
|
||||
|
||||
@@ -113,6 +113,7 @@ $(document).ready(function(){initNavTree('functions_m.html',''); initResizable()
|
||||
<li>Memory() : <a class="el" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4">rtabmap::Memory</a></li>
|
||||
<li>memoryChanged() : <a class="el" href="classrtabmap_1_1Memory.html#a8720df55fa6f8be933827808d364f20a">rtabmap::Memory</a></li>
|
||||
<li>memoryUsage : <a class="el" href="classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3">rtabmap::OdometryInfo</a></li>
|
||||
<li>memoryUsed() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">rtabmap::FlannIndex</a></li>
|
||||
<li>merge() : <a class="el" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">rtabmap::Link</a></li>
|
||||
<li>minDisparity() : <a class="el" href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742">rtabmap::Stereo</a></li>
|
||||
</ul>
|
||||
|
||||
@@ -102,6 +102,7 @@ $(document).ready(function(){initNavTree('functions_n.html',''); initResizable()
|
||||
|
||||
<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
|
||||
<li>name() : <a class="el" href="classrtabmap_1_1CameraModel.html#aa152828f20e1cf0ffab7bb25178191b5">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#ae759fe4ff0862f5305cf85257e0367a1">rtabmap::StereoCameraModel</a></li>
|
||||
<li>NANOFLANN_INDEX_KDTREE_SINGLE : <a class="el" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3">rtabmap::FlannIndex</a></li>
|
||||
<li>newCorners : <a class="el" href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">rtabmap::OdometryInfo</a></li>
|
||||
<li>NNStrategy : <a class="el" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">rtabmap::VWDictionary</a></li>
|
||||
<li>nnStrategyName() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">rtabmap::VWDictionary</a></li>
|
||||
|
||||
@@ -103,6 +103,7 @@ $(document).ready(function(){initNavTree('functions_r.html',''); initResizable()
|
||||
<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
|
||||
<li>R() : <a class="el" href="classrtabmap_1_1CameraModel.html#ad763246258ddf02c27873c2536901781">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">rtabmap::StereoCameraModel</a></li>
|
||||
<li>r11() : <a class="el" href="classrtabmap_1_1Transform.html#a1ea4c945ccf717677606fc7fe0331ccf">rtabmap::Transform</a></li>
|
||||
<li>radiusSearch() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">rtabmap::FlannIndex</a></li>
|
||||
<li>rawLikelihood() : <a class="el" href="classrtabmap_1_1Statistics.html#a472f50deace411e1fbbef95f4fb698de">rtabmap::Statistics</a></li>
|
||||
<li>reactivateSignatures() : <a class="el" href="classrtabmap_1_1Memory.html#aa244b8581684b85e35d2056cf972e377">rtabmap::Memory</a></li>
|
||||
<li>rectifyDepth() : <a class="el" href="classrtabmap_1_1CameraModel.html#a22cf7f5b49ef0cd8be08755010f6acb5">rtabmap::CameraModel</a></li>
|
||||
@@ -119,7 +120,7 @@ $(document).ready(function(){initNavTree('functions_r.html',''); initResizable()
|
||||
<li>RegistrationVis() : <a class="el" href="classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03">rtabmap::RegistrationVis</a></li>
|
||||
<li>rejectedMsg : <a class="el" href="classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96">rtabmap::RegistrationInfo</a></li>
|
||||
<li>rejectLastLoopClosure() : <a class="el" href="classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3">rtabmap::Rtabmap</a></li>
|
||||
<li>release() : <a class="el" href="classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5">USemaphore</a></li>
|
||||
<li>release() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">rtabmap::FlannIndex</a>, <a class="el" href="classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5">USemaphore</a></li>
|
||||
<li>removeAllRef() : <a class="el" href="classrtabmap_1_1VisualWord.html#a63364292bdd9921668187b16c2e0457e">rtabmap::VisualWord</a></li>
|
||||
<li>removeAllVirtualLinks() : <a class="el" href="classrtabmap_1_1Memory.html#a838b48bb9c2e6ccfe4f916ea2b2d00fd">rtabmap::Memory</a></li>
|
||||
<li>removeAllWordRef() : <a class="el" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">rtabmap::VWDictionary</a></li>
|
||||
@@ -130,10 +131,11 @@ $(document).ready(function(){initNavTree('functions_r.html',''); initResizable()
|
||||
<li>removeLandmarks() : <a class="el" href="classrtabmap_1_1Signature.html#aa482e98fb247d40368a9aaa838fe3a5a">rtabmap::Signature</a></li>
|
||||
<li>removeLink() : <a class="el" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717">rtabmap::DBDriver</a>, <a class="el" href="classrtabmap_1_1Memory.html#a3fcaa79a33d63f7e383d05868b1316e3">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#abbd9806c2b20182217d2269c7398541e">rtabmap::Signature</a></li>
|
||||
<li>removeLinks() : <a class="el" href="classrtabmap_1_1Signature.html#a8d3e01853af1365fce62dd460dea816f">rtabmap::Signature</a></li>
|
||||
<li>removePoint() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">rtabmap::FlannIndex</a></li>
|
||||
<li>removeRawData() : <a class="el" href="classrtabmap_1_1Memory.html#acab72b1076370287ac28a1d464d480f0">rtabmap::Memory</a></li>
|
||||
<li>removeVirtualLinks() : <a class="el" href="classrtabmap_1_1Memory.html#aa77fb0f90185a274b3e9d0c609ce14ed">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#a328419f90f9dd8113dee4e38c9e30367">rtabmap::Signature</a></li>
|
||||
<li>removeWords() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">rtabmap::VWDictionary</a></li>
|
||||
<li>rename() : <a class="el" href="classUFile.html#a725e2edf4b5f603bfc688e96c76858d4">UFile</a></li>
|
||||
<li>rename() : <a class="el" href="classUFile.html#a4918a111f92f2fdb7406fbd1661a1587">UFile</a></li>
|
||||
<li>repeatOnce() : <a class="el" href="classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864">rtabmap::Registration</a></li>
|
||||
<li>reproject() : <a class="el" href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b">rtabmap::CameraModel</a></li>
|
||||
<li>reset() : <a class="el" href="classrtabmap_1_1BayesFilter.html#ad415ee334d31eebc3685e61862f32573">rtabmap::BayesFilter</a>, <a class="el" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b">rtabmap::IMUFilter</a>, <a class="el" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry</a>, <a class="el" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM</a>, <a class="el" href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO</a>, <a class="el" href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F</a>, <a class="el" href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M</a>, <a class="el" href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis</a>, <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3</a>, <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">rtabmap::OdometryVINSFusion</a>, <a class="el" href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2</a>, <a class="el" href="classULogger.html#a007b617547d616325e58003eb4352a19">ULogger</a></li>
|
||||
|
||||
@@ -117,12 +117,12 @@ $(document).ready(function(){initNavTree('functions_s.html',''); initResizable()
|
||||
<li>SensorCaptureInfo() : <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li>
|
||||
<li>SensorCaptureThread() : <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li>
|
||||
<li>SensorData() : <a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li>
|
||||
<li>sensorData() : <a class="el" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature</a></li>
|
||||
<li>sensorData() : <a class="el" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature</a></li>
|
||||
<li>SensorEvent() : <a class="el" href="classrtabmap_1_1SensorEvent.html#aef6624e43c3f7f29684072782a377e20">rtabmap::SensorEvent</a></li>
|
||||
<li>separator() : <a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li>
|
||||
<li>serialize() : <a class="el" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel</a></li>
|
||||
<li>serializeData() : <a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">rtabmap::Statistics</a></li>
|
||||
<li>serializeIndex() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">rtabmap::VWDictionary</a></li>
|
||||
<li>serializeIndex() : <a class="el" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">rtabmap::FlannIndex</a>, <a class="el" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">rtabmap::VWDictionary</a></li>
|
||||
<li>setAffinity() : <a class="el" href="classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8">UThread</a></li>
|
||||
<li>setAltitude() : <a class="el" href="classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e">rtabmap::GeodeticCoords</a></li>
|
||||
<li>setBuffered() : <a class="el" href="classULogger.html#ab981daf077b8afbf49c7bd185aa3b273">ULogger</a></li>
|
||||
|
||||
@@ -143,7 +143,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
|
||||
<li>toUShort() : <a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li>
|
||||
<li>toUShortArray() : <a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
|
||||
<li>transform() : <a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a>, <a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo</a></li>
|
||||
<li>Transform() : <a class="el" href="classrtabmap_1_1Transform.html#af434ccbc426920a1b35ecbf4eec226e7">rtabmap::Transform</a></li>
|
||||
<li>Transform() : <a class="el" href="classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474">rtabmap::Transform</a></li>
|
||||
<li>transformFiltered : <a class="el" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">rtabmap::OdometryInfo</a></li>
|
||||
<li>transformGroundTruth : <a class="el" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">rtabmap::OdometryInfo</a></li>
|
||||
<li>translation() : <a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li>
|
||||
@@ -153,9 +153,9 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
|
||||
<li>Tx() : <a class="el" href="classrtabmap_1_1CameraModel.html#a6f6dc18af13a777e89a75725ef3e8ab4">rtabmap::CameraModel</a></li>
|
||||
<li>Type : <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">rtabmap::EnvSensor</a></li>
|
||||
<li>type() : <a class="el" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">rtabmap::EnvSensor</a></li>
|
||||
<li>Type : <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">rtabmap::Feature2D</a></li>
|
||||
<li>Type : <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">rtabmap::Feature2D</a>, <a class="el" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">rtabmap::IMUFilter</a></li>
|
||||
<li>type() : <a class="el" href="classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6">rtabmap::IMUFilter</a></li>
|
||||
<li>Type : <a class="el" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">rtabmap::IMUFilter</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link</a></li>
|
||||
<li>Type : <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link</a></li>
|
||||
<li>type() : <a class="el" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">rtabmap::Link</a></li>
|
||||
<li>Type : <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry</a></li>
|
||||
<li>type : <a class="el" href="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d">rtabmap::OdometryInfo</a></li>
|
||||
|
||||
@@ -133,7 +133,7 @@ This inheritance list is sorted roughly, but not completely, alphabetically:</di
|
||||
<tr id="row_7_8_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1SuperPointRpautrat.html" target="_self">rtabmap::SuperPointRpautrat</a></td><td class="desc">SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support) </td></tr>
|
||||
<tr id="row_7_9_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1SuperPointTorch.html" target="_self">rtabmap::SuperPointTorch</a></td><td class="desc">SuperPoint via LibTorch (RTAB-Map must be built with libtorch support) </td></tr>
|
||||
<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FeatureBA.html" target="_self">rtabmap::FeatureBA</a></td><td class="desc">A single bundle adjustment feature observation: one keypoint seen in one frame </td></tr>
|
||||
<tr id="row_9_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FlannIndex.html" target="_self">rtabmap::FlannIndex</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_9_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FlannIndex.html" target="_self">rtabmap::FlannIndex</a></td><td class="desc">Nearest neighbor index over a set of features </td></tr>
|
||||
<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classclams_1_1FrameProjector.html" target="_self">clams::FrameProjector</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_11_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GainCompensator.html" target="_self">rtabmap::GainCompensator</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GeodeticCoords.html" target="_self">rtabmap::GeodeticCoords</a></td><td class="desc">WGS84 geodetic latitude, longitude and altitude with coordinate conversions </td></tr>
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
|
||||
<area shape="rect" id="Node000000" href="$classrtabmap_1_1FlannIndex.html" title=" " alt="" coords="5,5,163,31"/>
|
||||
<area shape="rect" id="Node000000" href="$classrtabmap_1_1FlannIndex.html" title="Nearest neighbor index over a set of features." alt="" coords="5,5,163,31"/>
|
||||
</map>
|
||||
|
||||
@@ -1 +1 @@
|
||||
343d0bbedb9b127920a309861f31c24a
|
||||
a295334c9e80699383ebbdc53cf6fd1b
|
||||
@@ -206,7 +206,7 @@ $(document).ready(function(){initNavTree('hierarchy.html',''); initResizable();
|
||||
</td></tr>
|
||||
<tr><td><img src="inherit_graph_12.png" border="0" usemap="#artabmap_1_1FlannIndex" alt=""/>
|
||||
<map name="artabmap_1_1FlannIndex" id="artabmap_1_1FlannIndex">
|
||||
<area shape="rect" href="classrtabmap_1_1FlannIndex.html" title=" " alt="" coords="5,5,163,31"/>
|
||||
<area shape="rect" href="classrtabmap_1_1FlannIndex.html" title="Nearest neighbor index over a set of features." alt="" coords="5,5,163,31"/>
|
||||
</map>
|
||||
</td></tr>
|
||||
<tr><td><img src="inherit_graph_13.png" border="0" usemap="#artabmap_1_1GainCompensator" alt=""/>
|
||||
|
||||
@@ -155,7 +155,9 @@ var menudata={children:[
|
||||
{text:"w",url:"functions_vars.html#index_w"}]},
|
||||
{text:"Enumerations",url:"functions_enum.html"},
|
||||
{text:"Enumerator",url:"functions_eval.html",children:[
|
||||
{text:"k",url:"functions_eval.html#index_k"}]},
|
||||
{text:"f",url:"functions_eval.html#index_f"},
|
||||
{text:"k",url:"functions_eval.html#index_k"},
|
||||
{text:"n",url:"functions_eval.html#index_n"}]},
|
||||
{text:"Related Symbols",url:"functions_rela.html"}]}]},
|
||||
{text:"Files",url:"files.html",children:[
|
||||
{text:"File List",url:"files.html"},
|
||||
|
||||
@@ -214,6 +214,7 @@ Classes</h2></td></tr>
|
||||
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">A single bundle adjustment feature observation: one keypoint seen in one frame. <a href="classrtabmap_1_1FeatureBA.html#details">More...</a><br /></td></tr>
|
||||
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a></td></tr>
|
||||
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Nearest neighbor index over a set of features. <a href="classrtabmap_1_1FlannIndex.html#details">More...</a><br /></td></tr>
|
||||
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GainCompensator.html">GainCompensator</a></td></tr>
|
||||
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
|
||||
@@ -371,7 +371,7 @@ var namespacertabmap =
|
||||
[ "FAST_FREAK", "classrtabmap_1_1FAST__FREAK.html", null ],
|
||||
[ "Feature2D", "classrtabmap_1_1Feature2D.html", "classrtabmap_1_1Feature2D" ],
|
||||
[ "FeatureBA", "classrtabmap_1_1FeatureBA.html", "classrtabmap_1_1FeatureBA" ],
|
||||
[ "FlannIndex", "classrtabmap_1_1FlannIndex.html", null ],
|
||||
[ "FlannIndex", "classrtabmap_1_1FlannIndex.html", "classrtabmap_1_1FlannIndex" ],
|
||||
[ "GainCompensator", "classrtabmap_1_1GainCompensator.html", null ],
|
||||
[ "GeodeticCoords", "classrtabmap_1_1GeodeticCoords.html", "classrtabmap_1_1GeodeticCoords" ],
|
||||
[ "GFTT", "classrtabmap_1_1GFTT.html", "classrtabmap_1_1GFTT" ],
|
||||
|
||||
@@ -147,7 +147,7 @@ $(document).ready(function(){initNavTree('namespaces.html',''); initResizable();
|
||||
<tr id="row_0_39_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FAST__FREAK.html" target="_self">FAST_FREAK</a></td><td class="desc"><a class="el" href="classrtabmap_1_1FAST.html" title="FAST corner detector only (no descriptor).">FAST</a> corners + FREAK descriptors </td></tr>
|
||||
<tr id="row_0_40_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1Feature2D.html" target="_self">Feature2D</a></td><td class="desc">Abstract 2D feature detector and descriptor extractor for visual SLAM </td></tr>
|
||||
<tr id="row_0_41_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FeatureBA.html" target="_self">FeatureBA</a></td><td class="desc">A single bundle adjustment feature observation: one keypoint seen in one frame </td></tr>
|
||||
<tr id="row_0_42_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FlannIndex.html" target="_self">FlannIndex</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_0_42_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1FlannIndex.html" target="_self">FlannIndex</a></td><td class="desc">Nearest neighbor index over a set of features </td></tr>
|
||||
<tr id="row_0_43_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GainCompensator.html" target="_self">GainCompensator</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_0_44_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GeodeticCoords.html" target="_self">GeodeticCoords</a></td><td class="desc">WGS84 geodetic latitude, longitude and altitude with coordinate conversions </td></tr>
|
||||
<tr id="row_0_45_" class="odd" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrtabmap_1_1GFTT.html" target="_self">GFTT</a></td><td class="desc">Good-features-to-track detector (Shi–Tomasi / Harris) </td></tr>
|
||||
|
||||
+13
-12
@@ -130,18 +130,19 @@ var NAVTREEINDEX =
|
||||
"UStl_8h.html#ab4e2c55d7930e99514a2315a2c6b4f82",
|
||||
"classrtabmap_1_1BayesFilter.html#ad415ee334d31eebc3685e61862f32573",
|
||||
"classrtabmap_1_1CameraVideo.html",
|
||||
"classrtabmap_1_1GFTT__FREAK.html",
|
||||
"classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac",
|
||||
"classrtabmap_1_1Memory.html#abc4c40056783163ec5abde9366060cb2",
|
||||
"classrtabmap_1_1OdometryInfo.html#a9e40155a67416dcb420f4164e4aa348a",
|
||||
"classrtabmap_1_1Registration.html#a42d0c93204bc4da11eb89707ea2c03c6",
|
||||
"classrtabmap_1_1Rtabmap.html#adc87cbb6adde3027b8c20bbba25fec7b",
|
||||
"classrtabmap_1_1SensorCaptureThread.html#a429011ef7b39d30fc98413d727cccf4b",
|
||||
"classrtabmap_1_1Signature.html#a1496e2f2ae46f2b6efcf7ece309ffd22",
|
||||
"classrtabmap_1_1StereoCameraModel.html#a179ffcbc49ff3a281ef33cb4381e061c",
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@@ -263,13 +263,13 @@ Kp</h1>
|
||||
<tr class="markdownTableHead">
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||||
<th class="markdownTableHeadNone">Key </th><th class="markdownTableHeadNone">Type </th><th class="markdownTableHeadNone">Default </th><th class="markdownTableHeadNone">Description </th></tr>
|
||||
<tr class="markdownTableRowOdd">
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<td class="markdownTableBodyNone"><a class="anchor" id="param_KpNNStrategy"></a><a class="el" href="classrtabmap_1_1Parameters.html#a994321ccf32f126b6781aa1925a5fa66">Kp/NNStrategy</a> </td><td class="markdownTableBodyNone">int </td><td class="markdownTableBodyNone"><code>1</code> </td><td class="markdownTableBodyNone">kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4 </td></tr>
|
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<td class="markdownTableBodyNone"><a class="anchor" id="param_KpNNStrategy"></a><a class="el" href="classrtabmap_1_1Parameters.html#a994321ccf32f126b6781aa1925a5fa66">Kp/NNStrategy</a> </td><td class="markdownTableBodyNone">int </td><td class="markdownTableBodyNone"><code>1</code> </td><td class="markdownTableBodyNone">FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, FLANN KdTree Single=5, NanoFLANN KdTree=6 </td></tr>
|
||||
<tr class="markdownTableRowEven">
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||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_KpIncrementalDictionary"></a><a class="el" href="classrtabmap_1_1Parameters.html#adea90352705c00f23bd3f90d72b7fbdd">Kp/IncrementalDictionary</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone"></td></tr>
|
||||
<tr class="markdownTableRowOdd">
|
||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_KpIncrementalFlann"></a><a class="el" href="classrtabmap_1_1Parameters.html#a092387f2a424c8db4f2482742b0b0fb9">Kp/IncrementalFlann</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone">When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor <a class="el" href="parameters.html#param_KpFlannRebalancingFactor">Kp/FlannRebalancingFactor</a> in size). </td></tr>
|
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<td class="markdownTableBodyNone"><a class="anchor" id="param_KpIncrementalFlann"></a><a class="el" href="classrtabmap_1_1Parameters.html#a092387f2a424c8db4f2482742b0b0fb9">Kp/IncrementalFlann</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone">When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is only rebuilt when too many of its features have been removed, see <a class="el" href="parameters.html#param_KpFlannRebalancingFactor">Kp/FlannRebalancingFactor</a>). </td></tr>
|
||||
<tr class="markdownTableRowEven">
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||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_KpFlannRebalancingFactor"></a><a class="el" href="classrtabmap_1_1Parameters.html#a17550d1f1b862a621c409d4e12c7696b">Kp/FlannRebalancingFactor</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>2.0</code> </td><td class="markdownTableBodyNone">Factor used when rebuilding the incremental FLANN index (see <a class="el" href="parameters.html#param_KpIncrementalFlann">Kp/IncrementalFlann</a>). Set <=1 to disable. </td></tr>
|
||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_KpFlannRebalancingFactor"></a><a class="el" href="classrtabmap_1_1Parameters.html#a17550d1f1b862a621c409d4e12c7696b">Kp/FlannRebalancingFactor</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>2.0</code> </td><td class="markdownTableBodyNone">Rebuild the incremental FLANN index (see <a class="el" href="parameters.html#param_KpIncrementalFlann">Kp/IncrementalFlann</a>) once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled (<a class="el" href="parameters.html#param_RtabmapTimeThr">Rtabmap/TimeThr</a> or <a class="el" href="parameters.html#param_RtabmapMemoryThr">Rtabmap/MemoryThr</a>). Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one. </td></tr>
|
||||
<tr class="markdownTableRowOdd">
|
||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_KpByteToFloat"></a><a class="el" href="classrtabmap_1_1Parameters.html#a98de5152ce8f3bc8d1f197d20d4e778a">Kp/ByteToFloat</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>false</code> </td><td class="markdownTableBodyNone">For <a class="el" href="parameters.html#param_KpNNStrategy">Kp/NNStrategy</a>=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching. </td></tr>
|
||||
<tr class="markdownTableRowEven">
|
||||
@@ -1331,7 +1331,7 @@ Vis</h1>
|
||||
<tr class="markdownTableRowOdd">
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||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_VisCorType"></a><a class="el" href="classrtabmap_1_1Parameters.html#a1f1c5f9198da6ec1d43a36621b0e6687">Vis/CorType</a> </td><td class="markdownTableBodyNone">int </td><td class="markdownTableBodyNone"><code>0</code> </td><td class="markdownTableBodyNone">Correspondences computation approach: 0=Features Matching, 1=Optical Flow </td></tr>
|
||||
<tr class="markdownTableRowEven">
|
||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_VisCorNNType"></a><a class="el" href="classrtabmap_1_1Parameters.html#a341b0c15fe1fba640ad3aee76019a618">Vis/CorNNType</a> </td><td class="markdownTableBodyNone">int </td><td class="markdownTableBodyNone"><code>1</code> </td><td class="markdownTableBodyNone">[<a class="el" href="parameters.html#param_VisCorType">Vis/CorType</a>=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach. </td></tr>
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||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_VisCorNNType"></a><a class="el" href="classrtabmap_1_1Parameters.html#a341b0c15fe1fba640ad3aee76019a618">Vis/CorNNType</a> </td><td class="markdownTableBodyNone">int </td><td class="markdownTableBodyNone"><code>1</code> </td><td class="markdownTableBodyNone">[<a class="el" href="parameters.html#param_VisCorType">Vis/CorType</a>=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach. </td></tr>
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<tr class="markdownTableRowOdd">
|
||||
<td class="markdownTableBodyNone"><a class="anchor" id="param_VisCorNNDR"></a><a class="el" href="classrtabmap_1_1Parameters.html#a381898b11ddb3d389c76a027f5e49bfd">Vis/CorNNDR</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0.8</code> </td><td class="markdownTableBodyNone">[<a class="el" href="parameters.html#param_VisCorType">Vis/CorType</a>=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach. </td></tr>
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<tr class="markdownTableRowEven">
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Reference in New Issue
Block a user