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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738
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@@ -10,6 +10,10 @@
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<link href="tabs.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="jquery.js"></script>
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<script type="text/javascript" src="dynsections.js"></script>
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<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="resize.js"></script>
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<script type="text/javascript" src="navtreedata.js"></script>
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<script type="text/javascript" src="navtree.js"></script>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="search/searchdata.js"></script>
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<script type="text/javascript" src="search/search.js"></script>
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@@ -27,6 +31,7 @@
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<td id="projectalign">
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</td>
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</tr>
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</tbody>
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@@ -55,6 +60,23 @@ $(function() {
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$(document).ready(function() { init_codefold(0); });
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/* @license-end */
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</script>
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</div><!-- top -->
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<div id="side-nav" class="ui-resizable side-nav-resizable">
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<div id="nav-tree">
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<div id="nav-tree-contents">
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<div id="nav-sync" class="sync"></div>
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</div>
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</div>
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<div id="splitbar" style="-moz-user-select:none;"
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class="ui-resizable-handle">
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</div>
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</div>
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<script type="text/javascript">
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
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$(document).ready(function(){initNavTree('Link_8h_source.html',''); initResizable(); });
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/* @license-end */
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</script>
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<div id="doc-content">
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<!-- window showing the filter options -->
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<div id="MSearchSelectWindow"
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onmouseover="return searchBox.OnSearchSelectShow()"
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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</div>
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</div>
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<div id="nav-path" class="navpath">
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<ul>
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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</div>
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</div><!-- top -->
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<div class="header">
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<div class="headertitle"><div class="title">Link.h</div></div>
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</div><!--header-->
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@@ -138,73 +155,80 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1"> 72</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1">kPosePrior</a>, </div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9"> 73</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">kLandmark</a>, </div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983"> 74</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983">kGravity</a>, </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> kEnd,</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00"> 75</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00">kEnd</a>, </div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e"> 76</a></span> kSelfRefLink = 97, </div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac"> 77</a></span> kAllWithLandmarks = 98, </div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5"> 78</a></span> kAllWithoutLandmarks = 99, </div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> kUndef = 99}; </div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> kUndef = 99 </div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4"> 80</a></span> };</div>
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</div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159"> 82</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">typeName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type);</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b"> 85</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">Link</a>();</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885"> 95</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">Link</a>(<span class="keywordtype">int</span> from,</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">int</span> to,</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type,</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform,</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96"> 103</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">isValid</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_ != 0 && to_ != 0 && !transform_.isNull() && type_!=kUndef;}</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> from()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_;}</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> to()<span class="keyword"> const </span>{<span class="keywordflow">return</span> to_;}</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">const</span> Transform & transform()<span class="keyword"> const </span>{<span class="keywordflow">return</span> transform_;}</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> Type type()<span class="keyword"> const </span>{<span class="keywordflow">return</span> type_;}</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> std::string typeName()<span class="keyword"> const </span>{<span class="keywordflow">return</span> typeName(type_);}</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">const</span> cv::Mat & infMatrix()<span class="keyword"> const </span>{<span class="keywordflow">return</span> infMatrix_;}</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4"> 117</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4">rotVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e"> 122</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">transVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">void</span> setFrom(<span class="keywordtype">int</span> from) {from_ = from;}</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">void</span> setTo(<span class="keywordtype">int</span> to) {to_ = to;}</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">void</span> setTransform(<span class="keyword">const</span> Transform & transform) {transform_ = transform;}</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">void</span> setType(Type type) {type_ = type;}</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939"> 129</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939">setInfMatrix</a>(<span class="keyword">const</span> cv::Mat & infMatrix);</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">const</span> cv::Mat & userDataRaw()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keyword">const</span> cv::Mat & userDataCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521"> 134</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521">uncompressUserData</a>();</div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62"> 136</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62">uncompressUserDataConst</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> </div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542"> 150</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">merge</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> outputType) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3"> 152</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3">inverse</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">int</span> from_;</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">int</span> to_;</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transform_;</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type_;</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> cv::Mat infMatrix_; <span class="comment">// Information matrix = covariance matrix ^ -1</span></div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159"> 83</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">typeName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type);</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b"> 86</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">Link</a>();</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885"> 96</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">Link</a>(<span class="keywordtype">int</span> from,</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">int</span> to,</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type,</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform,</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">const</span> cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96"> 104</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">isValid</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_ != 0 && to_ != 0 && !transform_.isNull() && type_!=kUndef;}</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534"> 107</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">from</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_;}</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4"> 109</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">to</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> to_;}</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb"> 111</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">transform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> transform_;}</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3"> 113</a></span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> type_;}</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> std::string typeName()<span class="keyword"> const </span>{<span class="keywordflow">return</span> typeName(type_);}</div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keyword">const</span> cv::Mat & infMatrix()<span class="keyword"> const </span>{<span class="keywordflow">return</span> infMatrix_;}</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
|
||||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4"> 122</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4">rotVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e"> 127</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">transVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">void</span> setFrom(<span class="keywordtype">int</span> from) {from_ = from;}</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">void</span> setTo(<span class="keywordtype">int</span> to) {to_ = to;}</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">void</span> setTransform(<span class="keyword">const</span> Transform & transform) {transform_ = transform;}</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">void</span> setType(Type type) {type_ = type;}</div>
|
||||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939"> 134</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939">setInfMatrix</a>(<span class="keyword">const</span> cv::Mat & infMatrix);</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac"> 137</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac">userDataRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213"> 139</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213">userDataCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521"> 141</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521">uncompressUserData</a>();</div>
|
||||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62"> 143</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62">uncompressUserDataConst</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> </div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542"> 157</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">merge</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> outputType) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3"> 159</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3">inverse</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="comment">// user data</span></div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> cv::Mat _userDataCompressed; <span class="comment">// compressed data</span></div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> cv::Mat _userDataRaw;</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> </div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span>}</div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">int</span> from_;</div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">int</span> to_;</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transform_;</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type_;</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> cv::Mat infMatrix_; <span class="comment">// Information matrix = covariance matrix ^ -1</span></div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span><span class="preprocessor">#endif </span><span class="comment">/* LINK_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="comment">// user data</span></div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> cv::Mat _userDataCompressed; <span class="comment">// compressed data</span></div>
|
||||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> cv::Mat _userDataRaw;</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span>}</div>
|
||||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
|
||||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> </div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span><span class="preprocessor">#endif </span><span class="comment">/* LINK_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a00cecebc9adf3ee5afb66d6ad63871e4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4">rtabmap::Link::rotVariance</a></div><div class="ttdeci">double rotVariance(bool minimum=true) const</div><div class="ttdoc">Rotation variance derived from the information matrix diagonal (roll, pitch, yaw).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a0d5dcb7392f6ac89ca8b4de202ca07d3"><div class="ttname"><a href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3">rtabmap::Link::inverse</a></div><div class="ttdeci">Link inverse() const</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a17ea666cb54c4f7cce1c80bc2e1950c3"><div class="ttname"><a href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">rtabmap::Link::type</a></div><div class="ttdeci">Type type() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00113">Link.h:113</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a185194e8e766ca979e4de7e179f0e534"><div class="ttname"><a href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">rtabmap::Link::from</a></div><div class="ttdeci">int from() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00107">Link.h:107</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a1fb9569f6435b5a1c800a935b08f0159"><div class="ttname"><a href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">rtabmap::Link::typeName</a></div><div class="ttdeci">static std::string typeName(Type type)</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a1fce4ae495f2a4f5e0f7ac10551983ac"><div class="ttname"><a href="classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac">rtabmap::Link::userDataRaw</a></div><div class="ttdeci">const cv::Mat & userDataRaw() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00137">Link.h:137</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a2dce9c7a3ef04085d51f702002107c7b"><div class="ttname"><a href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">rtabmap::Link::Link</a></div><div class="ttdeci">Link()</div><div class="ttdoc">Default constructor; creates an invalid link (kUndef).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a3a82104ae4195beff134811a3a19d939"><div class="ttname"><a href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939">rtabmap::Link::setInfMatrix</a></div><div class="ttdeci">void setInfMatrix(const cv::Mat &infMatrix)</div><div class="ttdoc">Sets the 6x6 information matrix (CV_64FC1); diagonal entries must be positive and finite.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a3c4344c01b4f32a8b4a957b979fea84e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link::transVariance</a></div><div class="ttdeci">double transVariance(bool minimum=true) const</div><div class="ttdoc">Translation variance derived from the information matrix diagonal (x, y, z).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a53974a2cea4315106cf12065ace8bb96"><div class="ttname"><a href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">rtabmap::Link::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00103">Link.h:103</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a49186880bde84ca3dd43c2d95449fbfb"><div class="ttname"><a href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link::transform</a></div><div class="ttdeci">const Transform & transform() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00111">Link.h:111</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a53974a2cea4315106cf12065ace8bb96"><div class="ttname"><a href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">rtabmap::Link::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00104">Link.h:104</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a8d534b311c37d789276dd58bd7dc89e4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">rtabmap::Link::to</a></div><div class="ttdeci">int to() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00109">Link.h:109</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a8f624aa84862d7abafae5cfc7175f885"><div class="ttname"><a href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">rtabmap::Link::Link</a></div><div class="ttdeci">Link(int from, int to, Type type, const Transform &transform, const cv::Mat &infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Constructs a link between two nodes.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">rtabmap::Link::kLandmark</a></div><div class="ttdeci">@ kLandmark</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00073">Link.h:73</a></div></div>
|
||||
@@ -214,18 +238,24 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf">rtabmap::Link::kNeighbor</a></div><div class="ttdeci">@ kNeighbor</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00065">Link.h:65</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db">rtabmap::Link::kNeighborMerged</a></div><div class="ttdeci">@ kNeighborMerged</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00071">Link.h:71</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea9195217dc75001841fce507de43fb0db"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea9195217dc75001841fce507de43fb0db">rtabmap::Link::kLocalSpaceClosure</a></div><div class="ttdeci">@ kLocalSpaceClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00067">Link.h:67</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00">rtabmap::Link::kEnd</a></div><div class="ttdeci">@ kEnd</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00075">Link.h:75</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb">rtabmap::Link::kLocalTimeClosure</a></div><div class="ttdeci">@ kLocalTimeClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00068">Link.h:68</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eae963042a31afec63e8c0683696ac6791"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae963042a31afec63e8c0683696ac6791">rtabmap::Link::kGlobalClosure</a></div><div class="ttdeci">@ kGlobalClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00066">Link.h:66</a></div></div>
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||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7">rtabmap::Link::kVirtualClosure</a></div><div class="ttdeci">@ kVirtualClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00070">Link.h:70</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a953a029f601d7ca3efbb12ca22da4542"><div class="ttname"><a href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">rtabmap::Link::merge</a></div><div class="ttdeci">Link merge(const Link &link, Type outputType) const</div><div class="ttdoc">Chains this link (from → to) with link (to → link.to).</div></div>
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||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_abdec9d745b1b4679a87b944cd5b48213"><div class="ttname"><a href="classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213">rtabmap::Link::userDataCompressed</a></div><div class="ttdeci">const cv::Mat & userDataCompressed() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00139">Link.h:139</a></div></div>
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||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_ac425a90800494da64512011315c47e62"><div class="ttname"><a href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62">rtabmap::Link::uncompressUserDataConst</a></div><div class="ttdeci">cv::Mat uncompressUserDataConst() const</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_adb075101cafb535fc4a9b74f7afae521"><div class="ttname"><a href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521">rtabmap::Link::uncompressUserData</a></div><div class="ttdeci">void uncompressUserData()</div><div class="ttdoc">Decompresses user data into userDataRaw() if compressed data is stored.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
|
||||
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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