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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>
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</div><!-- fragment --></div><!-- contents -->
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</div><!-- doc-content -->
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