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@@ -252,88 +252,93 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
<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 &amp; 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> </div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41"> 344</a></span> std::vector&lt;unsigned char&gt; <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> </div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad"> 351</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&lt;unsigned char&gt; &amp; data);</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> </div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526"> 359</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="l00360" name="l00360"></a><span class="lineno"> 360</span> </div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8"> 368</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="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351"> 376</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="l00377" name="l00377"></a><span class="lineno"> 377</span> </div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388"> 387</a></span> std::vector&lt;VisualWord *&gt; <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">getUnusedWords</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> </div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d"> 393</a></span> std::vector&lt;int&gt; <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">getUnusedWordIds</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> </div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412"> 399</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="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4"> 407</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&lt;VisualWord*&gt; &amp; words); <span class="comment">// caller must delete the words</span></div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa"> 414</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="l00415" name="l00415"></a><span class="lineno"> 415</span> </div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e"> 428</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 &amp; descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> </div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c"> 442</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 &amp; descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69"> 449</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="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383"> 456</a></span> std::map&lt;int, VisualWord *&gt; <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">_visualWords</a>; <span class="comment">//&lt;id,VisualWord*&gt;</span></div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44"> 462</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="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordtype">bool</span> _incrementalDictionary;</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> </div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <span class="keywordtype">bool</span> _incrementalFlann;</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&lt;unsigned char&gt; <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&lt;unsigned char&gt; &amp; 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&lt;VisualWord *&gt; <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&lt;int&gt; <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&lt;VisualWord*&gt; &amp; 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 &amp; 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 &amp; 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&lt;int, VisualWord *&gt; <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">_visualWords</a>; <span class="comment">//&lt;id,VisualWord*&gt;</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="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">float</span> _rebalancingFactor;</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">bool</span> _byteToFloat;</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="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">float</span> _nndrRatio;</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> std::string _dictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</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="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 _newDictionaryPath; <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> std::string _dictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</span></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> <span class="keywordtype">bool</span> _newWordsComparedTogether;</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> _serializeWithChecksum;</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">int</span> _lastWordId;</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">bool</span> useDistanceL1_;</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> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a> * _flannIndex;</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> cv::Mat _dataTree;</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> <span class="keywordtype">bool</span> _modified;</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> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> _strategy;</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> std::map&lt;int ,int&gt; _mapIndexId;</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&lt;int ,int&gt; _mapIdIndex;</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> std::map&lt;int ,int&gt; _mapIndexId;</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> std::map&lt;int, VisualWord*&gt; _unusedWords; <span class="comment">//&lt;id,VisualWord*&gt;</span></div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> std::set&lt;int&gt; _notIndexedWords;</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> </div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> std::set&lt;int&gt; _removedIndexedWords;</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span>};</div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> std::map&lt;int ,int&gt; _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&lt;int, VisualWord*&gt; _unusedWords; <span class="comment">//&lt;id,VisualWord*&gt;</span></div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> std::set&lt;int&gt; _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&lt;int&gt; _removedIndexedWords;</div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span>};</div>
</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> </div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span>} <span class="comment">// namespace rtabmap</span></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="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#l00399">VWDictionary.h:399</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#l00404">VWDictionary.h:404</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&lt; unsigned char &gt; 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>
@@ -342,7 +347,7 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
<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&lt; unsigned char &gt; &amp;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#l00462">VWDictionary.h:462</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_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 &amp;dictionaryPath)</div><div class="ttdoc">Set the dictionary to fixed mode and load from file.</div></div>
@@ -378,7 +383,7 @@ $(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 &amp;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 &amp;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&lt; int, VisualWord * &gt; _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#l00456">VWDictionary.h:456</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&lt; int, VisualWord * &gt; _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_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_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>
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@@ -147,16 +147,17 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1VWDictionary.html','')
<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>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81">parseParameters</a>(const ParametersMap &amp;parameters)</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">removeAllWordRef</a>(int wordId, int signatureId)</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#a7a506e15bf83d16cc98aaa34057216f4">removeWords</a>(const std::vector&lt; VisualWord * &gt; &amp;words)</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#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() const</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#a5f3712744b9f7beb5da186a842f7d74a">setFixedDictionary</a>(const std::string &amp;dictionaryPath)</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#ab14ef6e8fb979dce23f9a40a1faf8dff">setIncrementalDictionary</a>()</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#af0b676e13c7dba437147520335289e97">setLastWordId</a>(int id)</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc">setNNStrategy</a>(NNStrategy strategy)</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#a844ae27eb6d1f0674c8f7777451812c5">update</a>()</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">VWDictionary</a>(const ParametersMap &amp;parameters=ParametersMap())</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#af7f669f103368e30e31a028efbcac89d">~VWDictionary</a>()</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>rebuildIndex</b>() (defined in <a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a>)</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#ac4a70358ca2db8e63c67a30383a1d34b">removeAllWordRef</a>(int wordId, int signatureId)</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#a7a506e15bf83d16cc98aaa34057216f4">removeWords</a>(const std::vector&lt; VisualWord * &gt; &amp;words)</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#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() const</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#a5f3712744b9f7beb5da186a842f7d74a">setFixedDictionary</a>(const std::string &amp;dictionaryPath)</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#ab14ef6e8fb979dce23f9a40a1faf8dff">setIncrementalDictionary</a>()</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#af0b676e13c7dba437147520335289e97">setLastWordId</a>(int id)</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc">setNNStrategy</a>(NNStrategy strategy)</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#a844ae27eb6d1f0674c8f7777451812c5">update</a>()</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">VWDictionary</a>(const ParametersMap &amp;parameters=ParametersMap())</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#af7f669f103368e30e31a028efbcac89d">~VWDictionary</a>()</td><td class="entry"><a class="el" href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
</table></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
api/latest/classrtabmap_1_1VWDictionary.html
+6 -3
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@@ -216,6 +216,9 @@ Public Member Functions</h2></td></tr>
<tr class="memitem:aa0bcdf4002305d36bb072c019d475f13" id="r_aa0bcdf4002305d36bb072c019d475f13"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13">isModified</a> () const</td></tr>
<tr class="memdesc:aa0bcdf4002305d36bb072c019d475f13"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the dictionary has been modified since last save. <br /></td></tr>
<tr class="separator:aa0bcdf4002305d36bb072c019d475f13"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac18295fcae685ca5c71a2c7788ef1093" id="r_ac18295fcae685ca5c71a2c7788ef1093"><td class="memItemLeft" align="right" valign="top"><a id="ac18295fcae685ca5c71a2c7788ef1093" name="ac18295fcae685ca5c71a2c7788ef1093"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>rebuildIndex</b> ()</td></tr>
<tr class="separator:ac18295fcae685ca5c71a2c7788ef1093"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2864c406b3792dbfb7c8c334b6e44d41" id="r_a2864c406b3792dbfb7c8c334b6e44d41"><td class="memItemLeft" align="right" valign="top">std::vector&lt; unsigned char &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a> () const</td></tr>
<tr class="memdesc:a2864c406b3792dbfb7c8c334b6e44d41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize the search index to a byte vector. <br /></td></tr>
<tr class="separator:a2864c406b3792dbfb7c8c334b6e44d41"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -1394,7 +1397,7 @@ 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#l00399">399</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#l00404">404</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
</div>
</div>
@@ -1649,7 +1652,7 @@ 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#l00456">456</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#l00461">461</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
</div>
</div>
@@ -1676,7 +1679,7 @@ 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#l00462">462</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#l00467">467</a> of file <a class="el" href="VWDictionary_8h_source.html">VWDictionary.h</a>.</p>
</div>
</div>
api/latest/functions_func_s.html
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@@ -117,8 +117,8 @@ $(document).ready(function(){initNavTree('functions_func_s.html',''); initResiza
<li>SensorCaptureInfo()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li>
<li>SensorCaptureThread()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li>
<li>SensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li>
<li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature</a></li>
<li>SensorEvent()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#aef6624e43c3f7f29684072782a377e20">rtabmap::SensorEvent</a></li>
<li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature</a></li>
<li>SensorEvent()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#aa6c0584b85a70fe240f745c759948591">rtabmap::SensorEvent</a></li>
<li>separator()&#160;:&#160;<a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li>
<li>serialize()&#160;:&#160;<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()&#160;:&#160;<a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">rtabmap::Statistics</a></li>
api/latest/functions_func_t.html
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View File
@@ -129,7 +129,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
<li>toUShort()&#160;:&#160;<a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li>
<li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
<li>transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ac3654d3f6802d4b0c17b6110d1eda71a">rtabmap::Transform</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd">rtabmap::Transform</a></li>
<li>translation()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li>
<li>translationMatrix()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e">rtabmap::Transform</a></li>
<li>transVariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link</a></li>
api/latest/functions_s.html
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View File
@@ -117,7 +117,7 @@ $(document).ready(function(){initNavTree('functions_s.html',''); initResizable()
<li>SensorCaptureInfo()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li>
<li>SensorCaptureThread()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li>
<li>SensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li>
<li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature</a></li>
<li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature</a></li>
<li>SensorEvent()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#aef6624e43c3f7f29684072782a377e20">rtabmap::SensorEvent</a></li>
<li>separator()&#160;:&#160;<a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li>
<li>serialize()&#160;:&#160;<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>
api/latest/functions_t.html
+5 -4
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@@ -143,7 +143,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
<li>toUShort()&#160;:&#160;<a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li>
<li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
<li>transform()&#160;:&#160;<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()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474">rtabmap::Transform</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af434ccbc426920a1b35ecbf4eec226e7">rtabmap::Transform</a></li>
<li>transformFiltered&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">rtabmap::OdometryInfo</a></li>
<li>transformGroundTruth&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">rtabmap::OdometryInfo</a></li>
<li>translation()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li>
@@ -151,15 +151,16 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
<li>transVariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link</a></li>
<li>triggerNewMap()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a4ab6de2be120bbda75577911d52346d4">rtabmap::Rtabmap</a></li>
<li>Tx()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a6f6dc18af13a777e89a75725ef3e8ab4">rtabmap::CameraModel</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">rtabmap::EnvSensor</a></li>
<li>type()&#160;:&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">rtabmap::EnvSensor</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">rtabmap::EnvSensor</a>, <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">rtabmap::Feature2D</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">rtabmap::Feature2D</a></li>
<li>type()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6">rtabmap::IMUFilter</a></li>
<li>Type&#160;:&#160;<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()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">rtabmap::Link</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry</a></li>
<li>type&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d">rtabmap::OdometryInfo</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520">rtabmap::Optimizer</a></li>
<li>type&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d">rtabmap::OdometryInfo</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">rtabmap::Optimizer</a></li>
<li>type()&#160;:&#160;<a class="el" href="classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46">rtabmap::OptimizerGTSAM</a>, <a class="el" href="classrtabmap_1_1OptimizerTORO.html#a965efb877ac5edd3b6cda43983096a64">rtabmap::OptimizerTORO</a></li>
<li>type()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46">rtabmap::OptimizerGTSAM</a>, <a class="el" href="classrtabmap_1_1OptimizerTORO.html#a965efb877ac5edd3b6cda43983096a64">rtabmap::OptimizerTORO</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">rtabmap::Registration</a>, <a class="el" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">rtabmap::StereoDense</a>, <a class="el" href="classULogger.html#aab74fc95f6494a3a2137d9094fe100d8">ULogger</a></li>
<li>type()&#160;:&#160;<a class="el" href="classUVariant.html#a4fa9e6607b2d99ba03d09bd39f42da4f">UVariant</a></li>
<li>Type&#160;:&#160;<a class="el" href="classUVariant.html#a3d5035d3aaf0b7574acc8765825c37bd">UVariant</a></li>
api/latest/search/all_14.js
+1 -1
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