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@@ -252,88 +252,93 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
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<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a"> 332</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a">setFixedDictionary</a>(<span class="keyword">const</span> std::string & dictionaryPath);</div>
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<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> </div>
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<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>
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<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> </div>
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<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<unsigned char> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> </div>
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<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<unsigned char> & data);</div>
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<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> </div>
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<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>
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<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> </div>
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<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>
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<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
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<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>
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<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> </div>
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<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<VisualWord *> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">getUnusedWords</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> </div>
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<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<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">getUnusedWordIds</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> </div>
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<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>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
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<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<VisualWord*> & words); <span class="comment">// caller must delete the words</span></div>
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<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
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<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>
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<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> </div>
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<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span><span class="keyword">public</span>:</div>
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<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 & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> </div>
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<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 & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
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<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span><span class="keyword">protected</span>:</div>
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<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>
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<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
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<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span><span class="keyword">protected</span>:</div>
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<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<int, VisualWord *> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">_visualWords</a>; <span class="comment">//<id,VisualWord*></span></div>
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<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
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<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>
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<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
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<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordtype">bool</span> _incrementalDictionary;</div>
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<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> </div>
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<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <span class="keywordtype">bool</span> _incrementalFlann;</div>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordtype">void</span> rebuildIndex();</div>
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<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41"> 349</a></span> std::vector<unsigned char> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
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<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad"> 356</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad">deserializeIndex</a>(<span class="keyword">const</span> std::vector<unsigned char> & data);</div>
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<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
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<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>
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<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> </div>
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<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>
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<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> </div>
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<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>
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<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> </div>
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<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388"> 392</a></span> std::vector<VisualWord *> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">getUnusedWords</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
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<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d"> 398</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">getUnusedWordIds</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> </div>
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<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>
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<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> </div>
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<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4"> 412</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">removeWords</a>(<span class="keyword">const</span> std::vector<VisualWord*> & words); <span class="comment">// caller must delete the words</span></div>
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<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> </div>
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<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>
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<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> </div>
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<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e"> 433</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e">convertBinTo32F</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> </div>
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<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c"> 447</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c">convert32FToBin</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
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<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span><span class="keyword">protected</span>:</div>
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<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>
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<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> </div>
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<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383"> 461</a></span> std::map<int, VisualWord *> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">_visualWords</a>; <span class="comment">//<id,VisualWord*></span></div>
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<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> </div>
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<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>
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<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
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<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <span class="keywordtype">bool</span> _incrementalDictionary;</div>
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<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<int ,int> _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<int ,int> _mapIdIndex;</div>
|
||||
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> std::map<int ,int> _mapIndexId;</div>
|
||||
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
|
||||
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> std::map<int, VisualWord*> _unusedWords; <span class="comment">//<id,VisualWord*></span></div>
|
||||
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> std::set<int> _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<int> _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<int ,int> _mapIdIndex;</div>
|
||||
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> </div>
|
||||
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> std::map<int, VisualWord*> _unusedWords; <span class="comment">//<id,VisualWord*></span></div>
|
||||
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> std::set<int> _notIndexedWords;</div>
|
||||
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> </div>
|
||||
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> std::set<int> _removedIndexedWords;</div>
|
||||
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span>};</div>
|
||||
</div>
|
||||
<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< unsigned char > serializeIndex() const</div><div class="ttdoc">Serialize the search index to a byte vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a293c09f00caf84bb991d73983a5f22c8"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">rtabmap::VWDictionary::getNotIndexedWordsCount</a></div><div class="ttdeci">unsigned int getNotIndexedWordsCount() const</div><div class="ttdoc">Get the count of words not yet indexed in the search tree.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00257">VWDictionary.h:257</a></div></div>
|
||||
@@ -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< unsigned char > &data)</div><div class="ttdoc">Deserialize the search index from a byte vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a454639bff3d95b2f9dd346413981d5c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">rtabmap::VWDictionary::getNndrRatio</a></div><div class="ttdeci">float getNndrRatio() const</div><div class="ttdoc">Get the Nearest Neighbor Distance Ratio (NNDR) threshold.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00251">VWDictionary.h:251</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5222c6a21307f0e4b9346c87db166b44"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">rtabmap::VWDictionary::_totalActiveReferences</a></div><div class="ttdeci">int _totalActiveReferences</div><div class="ttdoc">Total count of active word-to-signature references.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#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 &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 &descriptorsIn, bool byteToFloat=true)</div><div class="ttdoc">Convert 32-bit float descriptors to binary format.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ad464ad961b0e4d4cd6dd7895e9ff3d59"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59">rtabmap::VWDictionary::addWord</a></div><div class="ttdeci">virtual void addWord(VisualWord *vw)</div><div class="ttdoc">Add an existing visual word to the dictionary.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ada3980b520d8411a1ebb3ce14e2f8734"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">rtabmap::VWDictionary::VWDictionary</a></div><div class="ttdeci">VWDictionary(const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Constructor.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_adcb4739e09e27b20125880e9d3026383"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">rtabmap::VWDictionary::_visualWords</a></div><div class="ttdeci">std::map< int, VisualWord * > _visualWords</div><div class="ttdoc">Map of visual word ID to VisualWord pointer.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#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< int, VisualWord * > _visualWords</div><div class="ttdoc">Map of visual word ID to VisualWord pointer.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00461">VWDictionary.h:461</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_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>
|
||||
|
||||
Reference in New Issue
Block a user