diff --git a/api/latest/VWDictionary_8h_source.html b/api/latest/VWDictionary_8h_source.html index a10b2664..10a65732 100644 --- a/api/latest/VWDictionary_8h_source.html +++ b/api/latest/VWDictionary_8h_source.html @@ -252,88 +252,93 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
332 void setFixedDictionary(const std::string & dictionaryPath);
333
338 bool isModified() const;
-
339
-
344 std::vector<unsigned char> serializeIndex() const;
-
345
-
351 bool deserializeIndex(const std::vector<unsigned char> & data);
-
352
-
359 bool deserializeIndex(const unsigned char * data, size_t size);
-
360
-
368 void exportDictionary(const char * fileNameReferences, const char * fileNameDescriptors) const;
-
369
-
376 void clear(bool printWarningsIfNotEmpty = true);
-
377
-
387 std::vector<VisualWord *> getUnusedWords() const;
-
388
-
393 std::vector<int> getUnusedWordIds() const;
-
394
-
399 unsigned int getUnusedWordsSize() const {return (int)_unusedWords.size();}
-
400
-
407 void removeWords(const std::vector<VisualWord*> & words); // caller must delete the words
-
408
-
414 void deleteUnusedWords();
-
415
-
416public:
-
428 static cv::Mat convertBinTo32F(const cv::Mat & descriptorsIn, bool byteToFloat = true);
-
429
-
442 static cv::Mat convert32FToBin(const cv::Mat & descriptorsIn, bool byteToFloat = true);
-
443
-
444protected:
-
449 int getNextId();
-
450
-
451protected:
-
456 std::map<int, VisualWord *> _visualWords; //<id,VisualWord*>
-
457
-
462 int _totalActiveReferences;
-
463
-
464private:
-
468 bool _incrementalDictionary;
-
469
-
473 bool _incrementalFlann;
+
339 // Re-index all the words from scratch. The index then contains the words in
+
340 // the same order than the one built by update() on a dictionary freshly
+
341 // loaded from a database, which is required to serialize it (the serialized
+
342 // index is matched against the words in that order when deserialized).
+
343 void rebuildIndex();
+
344
+
349 std::vector<unsigned char> serializeIndex() const;
+
350
+
356 bool deserializeIndex(const std::vector<unsigned char> & data);
+
357
+
364 bool deserializeIndex(const unsigned char * data, size_t size);
+
365
+
373 void exportDictionary(const char * fileNameReferences, const char * fileNameDescriptors) const;
+
374
+
381 void clear(bool printWarningsIfNotEmpty = true);
+
382
+
392 std::vector<VisualWord *> getUnusedWords() const;
+
393
+
398 std::vector<int> getUnusedWordIds() const;
+
399
+
404 unsigned int getUnusedWordsSize() const {return (int)_unusedWords.size();}
+
405
+
412 void removeWords(const std::vector<VisualWord*> & words); // caller must delete the words
+
413
+
419 void deleteUnusedWords();
+
420
+
421public:
+
433 static cv::Mat convertBinTo32F(const cv::Mat & descriptorsIn, bool byteToFloat = true);
+
434
+
447 static cv::Mat convert32FToBin(const cv::Mat & descriptorsIn, bool byteToFloat = true);
+
448
+
449protected:
+
454 int getNextId();
+
455
+
456protected:
+
461 std::map<int, VisualWord *> _visualWords; //<id,VisualWord*>
+
462
+
467 int _totalActiveReferences;
+
468
+
469private:
+
473 bool _incrementalDictionary;
474
-
478 float _rebalancingFactor;
+
478 bool _incrementalFlann;
479
-
483 bool _byteToFloat;
+
483 float _rebalancingFactor;
484
-
491 float _nndrRatio;
-
492
-
496 std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
+
488 bool _byteToFloat;
+
489
+
496 float _nndrRatio;
497
-
501 std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
+
501 std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
502
-
506 bool _newWordsComparedTogether;
+
506 std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
507
-
511 bool _serializeWithChecksum;
+
511 bool _newWordsComparedTogether;
512
-
516 int _lastWordId;
+
516 bool _serializeWithChecksum;
517
-
521 bool useDistanceL1_;
+
521 int _lastWordId;
522
-
526 FlannIndex * _flannIndex;
+
526 bool useDistanceL1_;
527
-
531 cv::Mat _dataTree;
+
531 FlannIndex * _flannIndex;
532
-
536 bool _modified;
+
536 cv::Mat _dataTree;
537
-
541 NNStrategy _strategy;
+
541 bool _modified;
542
-
546 std::map<int ,int> _mapIndexId;
+
546 NNStrategy _strategy;
547
-
551 std::map<int ,int> _mapIdIndex;
+
551 std::map<int ,int> _mapIndexId;
552
-
557 std::map<int, VisualWord*> _unusedWords; //<id,VisualWord*>
-
561 std::set<int> _notIndexedWords;
-
562
-
566 std::set<int> _removedIndexedWords;
-
567};
+
556 std::map<int ,int> _mapIdIndex;
+
557
+
562 std::map<int, VisualWord*> _unusedWords; //<id,VisualWord*>
+
566 std::set<int> _notIndexedWords;
+
567
+
571 std::set<int> _removedIndexedWords;
+
572};
-
568
-
569} // namespace rtabmap
+
573
+
574} // namespace rtabmap
rtabmap::FlannIndex
Definition FlannIndex.h:38
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
rtabmap::VWDictionary::getNextId
int getNextId()
Get the next available visual word ID.
rtabmap::VWDictionary::deserializeIndex
bool deserializeIndex(const unsigned char *data, size_t size)
Deserialize the search index from raw bytes.
-
rtabmap::VWDictionary::getUnusedWordsSize
unsigned int getUnusedWordsSize() const
Get the count of unused visual words.
Definition VWDictionary.h:399
+
rtabmap::VWDictionary::getUnusedWordsSize
unsigned int getUnusedWordsSize() const
Get the count of unused visual words.
Definition VWDictionary.h:404
rtabmap::VWDictionary::exportDictionary
void exportDictionary(const char *fileNameReferences, const char *fileNameDescriptors) const
Export the dictionary to files.
rtabmap::VWDictionary::serializeIndex
std::vector< unsigned char > serializeIndex() const
Serialize the search index to a byte vector.
rtabmap::VWDictionary::getNotIndexedWordsCount
unsigned int getNotIndexedWordsCount() const
Get the count of words not yet indexed in the search tree.
Definition VWDictionary.h:257
@@ -342,7 +347,7 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
rtabmap::VWDictionary::deleteUnusedWords
void deleteUnusedWords()
Delete all unused visual words.
rtabmap::VWDictionary::deserializeIndex
bool deserializeIndex(const std::vector< unsigned char > &data)
Deserialize the search index from a byte vector.
rtabmap::VWDictionary::getNndrRatio
float getNndrRatio() const
Get the Nearest Neighbor Distance Ratio (NNDR) threshold.
Definition VWDictionary.h:251
-
rtabmap::VWDictionary::_totalActiveReferences
int _totalActiveReferences
Total count of active word-to-signature references.
Definition VWDictionary.h:462
+
rtabmap::VWDictionary::_totalActiveReferences
int _totalActiveReferences
Total count of active word-to-signature references.
Definition VWDictionary.h:467
rtabmap::VWDictionary::clear
void clear(bool printWarningsIfNotEmpty=true)
Clear all visual words and reset the dictionary.
rtabmap::VWDictionary::getWord
const VisualWord * getWord(int id) const
Get a visual word by ID.
rtabmap::VWDictionary::setFixedDictionary
void setFixedDictionary(const std::string &dictionaryPath)
Set the dictionary to fixed mode and load from file.
@@ -378,7 +383,7 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
rtabmap::VWDictionary::convert32FToBin
static cv::Mat convert32FToBin(const cv::Mat &descriptorsIn, bool byteToFloat=true)
Convert 32-bit float descriptors to binary format.
rtabmap::VWDictionary::addWord
virtual void addWord(VisualWord *vw)
Add an existing visual word to the dictionary.
rtabmap::VWDictionary::VWDictionary
VWDictionary(const ParametersMap &parameters=ParametersMap())
Constructor.
-
rtabmap::VWDictionary::_visualWords
std::map< int, VisualWord * > _visualWords
Map of visual word ID to VisualWord pointer.
Definition VWDictionary.h:456
+
rtabmap::VWDictionary::_visualWords
std::map< int, VisualWord * > _visualWords
Map of visual word ID to VisualWord pointer.
Definition VWDictionary.h:461
rtabmap::VWDictionary::addWordRef
bool addWordRef(int wordId, int signatureId)
Add a reference from a visual word to a signature.
rtabmap::VWDictionary::setLastWordId
void setLastWordId(int id)
Set the last word ID (used when loading from database)
Definition VWDictionary.h:232
rtabmap::VWDictionary::setNNStrategy
bool setNNStrategy(NNStrategy strategy)
Set the nearest neighbor search strategy.
diff --git a/api/latest/classrtabmap_1_1VWDictionary-members.html b/api/latest/classrtabmap_1_1VWDictionary-members.html index 13eb65d3..9700eb76 100644 --- a/api/latest/classrtabmap_1_1VWDictionary-members.html +++ b/api/latest/classrtabmap_1_1VWDictionary-members.html @@ -147,16 +147,17 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1VWDictionary.html','') NNStrategy enum namertabmap::VWDictionary nnStrategyName(NNStrategy strategy)rtabmap::VWDictionaryinlinestatic parseParameters(const ParametersMap &parameters)rtabmap::VWDictionaryvirtual - removeAllWordRef(int wordId, int signatureId)rtabmap::VWDictionary - removeWords(const std::vector< VisualWord * > &words)rtabmap::VWDictionary - serializeIndex() constrtabmap::VWDictionary - setFixedDictionary(const std::string &dictionaryPath)rtabmap::VWDictionary - setIncrementalDictionary()rtabmap::VWDictionary - setLastWordId(int id)rtabmap::VWDictionaryinline - setNNStrategy(NNStrategy strategy)rtabmap::VWDictionary - update()rtabmap::VWDictionaryvirtual - VWDictionary(const ParametersMap &parameters=ParametersMap())rtabmap::VWDictionary - ~VWDictionary()rtabmap::VWDictionaryvirtual + rebuildIndex() (defined in rtabmap::VWDictionary)rtabmap::VWDictionary + removeAllWordRef(int wordId, int signatureId)rtabmap::VWDictionary + removeWords(const std::vector< VisualWord * > &words)rtabmap::VWDictionary + serializeIndex() constrtabmap::VWDictionary + setFixedDictionary(const std::string &dictionaryPath)rtabmap::VWDictionary + setIncrementalDictionary()rtabmap::VWDictionary + setLastWordId(int id)rtabmap::VWDictionaryinline + setNNStrategy(NNStrategy strategy)rtabmap::VWDictionary + update()rtabmap::VWDictionaryvirtual + VWDictionary(const ParametersMap &parameters=ParametersMap())rtabmap::VWDictionary + ~VWDictionary()rtabmap::VWDictionaryvirtual diff --git a/api/latest/classrtabmap_1_1VWDictionary.html b/api/latest/classrtabmap_1_1VWDictionary.html index 8ca5c14e..0fd3bcd4 100644 --- a/api/latest/classrtabmap_1_1VWDictionary.html +++ b/api/latest/classrtabmap_1_1VWDictionary.html @@ -216,6 +216,9 @@ Public Member Functions bool isModified () const  Check if the dictionary has been modified since last save.
  + +void rebuildIndex () +  std::vector< unsigned char > serializeIndex () const  Serialize the search index to a byte vector.
  @@ -1394,7 +1397,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004).

Get the count of unused visual words.

Returns
Number of unused words
-

Definition at line 399 of file VWDictionary.h.

+

Definition at line 404 of file VWDictionary.h.

@@ -1649,7 +1652,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004).

Map of visual word ID to VisualWord pointer.

Note
All visual words (used and unused) are stored here
-

Definition at line 456 of file VWDictionary.h.

+

Definition at line 461 of file VWDictionary.h.

@@ -1676,7 +1679,7 @@ from Scale-Invariant Keypoints" by David Lowe (IJCV 2004).

Total count of active word-to-signature references.

Note
Used to track all references for updating common signatures
-

Definition at line 462 of file VWDictionary.h.

+

Definition at line 467 of file VWDictionary.h.

diff --git a/api/latest/functions_func_s.html b/api/latest/functions_func_s.html index 7f184262..a8dbed33 100644 --- a/api/latest/functions_func_s.html +++ b/api/latest/functions_func_s.html @@ -117,8 +117,8 @@ $(document).ready(function(){initNavTree('functions_func_s.html',''); initResiza
  • SensorCaptureInfo() : rtabmap::SensorCaptureInfo
  • SensorCaptureThread() : rtabmap::SensorCaptureThread
  • SensorData() : rtabmap::SensorData
    • -
  • sensorData() : rtabmap::Signature
    • -
  • SensorEvent() : rtabmap::SensorEvent
    • +
  • sensorData() : rtabmap::Signature
    • +
  • SensorEvent() : rtabmap::SensorEvent
  • separator() : UDirectory
  • serialize() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • serializeData() : rtabmap::Statistics
    • diff --git a/api/latest/functions_func_t.html b/api/latest/functions_func_t.html index dd1dd0b6..e3961a95 100644 --- a/api/latest/functions_func_t.html +++ b/api/latest/functions_func_t.html @@ -129,7 +129,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • translation() : rtabmap::Transform
  • translationMatrix() : rtabmap::Transform
  • transVariance() : rtabmap::Link
    • diff --git a/api/latest/functions_s.html b/api/latest/functions_s.html index 7f35283f..bf8f243a 100644 --- a/api/latest/functions_s.html +++ b/api/latest/functions_s.html @@ -117,7 +117,7 @@ $(document).ready(function(){initNavTree('functions_s.html',''); initResizable()
  • SensorCaptureInfo() : rtabmap::SensorCaptureInfo
  • SensorCaptureThread() : rtabmap::SensorCaptureThread
  • SensorData() : rtabmap::SensorData
    • -
  • sensorData() : rtabmap::Signature
    • +
  • sensorData() : rtabmap::Signature
  • SensorEvent() : rtabmap::SensorEvent
  • separator() : UDirectory
  • serialize() : rtabmap::CameraModel, rtabmap::StereoCameraModel
    • diff --git a/api/latest/functions_t.html b/api/latest/functions_t.html index 8df58ce4..b8b5977d 100644 --- a/api/latest/functions_t.html +++ b/api/latest/functions_t.html @@ -143,7 +143,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link, rtabmap::OdometryInfo
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • transformFiltered : rtabmap::OdometryInfo
  • transformGroundTruth : rtabmap::OdometryInfo
  • translation() : rtabmap::Transform
    • @@ -151,15 +151,16 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • transVariance() : rtabmap::Link
  • triggerNewMap() : rtabmap::Rtabmap
  • Tx() : rtabmap::CameraModel
    • +
  • Type : rtabmap::EnvSensor
  • type() : rtabmap::EnvSensor
    • -
  • Type : rtabmap::EnvSensor, rtabmap::Feature2D
    • +
  • Type : rtabmap::Feature2D
  • type() : rtabmap::IMUFilter
  • Type : rtabmap::IMUFilter, rtabmap::Link
  • type() : rtabmap::Link
  • Type : rtabmap::Odometry
    • -
  • type : rtabmap::OdometryInfo, rtabmap::Optimizer
    • +
  • type : rtabmap::OdometryInfo
  • Type : rtabmap::Optimizer
    • -
  • type() : rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, rtabmap::OptimizerTORO
    • +
  • type() : rtabmap::Optimizer, rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, rtabmap::OptimizerTORO
  • Type : rtabmap::Registration, rtabmap::StereoDense, ULogger
  • type() : UVariant
  • Type : UVariant
    • diff --git a/api/latest/search/all_14.js b/api/latest/search/all_14.js index f47d54a6..01a502d8 100644 --- a/api/latest/search/all_14.js +++ b/api/latest/search/all_14.js @@ -20,7 +20,7 @@ var searchData= ['sensorcapture_17',['sensorcapture',['../classrtabmap_1_1SensorCapture.html',1,'rtabmap::SensorCapture'],['../classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94',1,'rtabmap::SensorCapture::SensorCapture()']]], ['sensorcaptureinfo_18',['sensorcaptureinfo',['../classrtabmap_1_1SensorCaptureInfo.html',1,'rtabmap::SensorCaptureInfo'],['../classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09',1,'rtabmap::SensorCaptureInfo::SensorCaptureInfo()']]], ['sensorcapturethread_19',['sensorcapturethread',['../classrtabmap_1_1SensorCaptureThread.html#a2a64df180f19d0a2ea9a8d66ea58fc42',1,'rtabmap::SensorCaptureThread::SensorCaptureThread(Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())'],['../classrtabmap_1_1SensorCaptureThread.html#a590aee9497d8a3b6e14b68e1e17f9c6a',1,'rtabmap::SensorCaptureThread::SensorCaptureThread(Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())'],['../classrtabmap_1_1SensorCaptureThread.html',1,'rtabmap::SensorCaptureThread'],['../classrtabmap_1_1SensorCaptureThread.html#a9cf0e883ace51a2a656395327beb74e5',1,'rtabmap::SensorCaptureThread::SensorCaptureThread(Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())'],['../classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c',1,'rtabmap::SensorCaptureThread::SensorCaptureThread(Camera *camera, const ParametersMap 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