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Update documentation (latest) 2fbbe19d70
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@@ -202,49 +202,50 @@ $(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initRe
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0"> 189</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">removePoint</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index);</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> </div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75"> 205</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">knnSearch</a>(</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> cv::Mat & query,</div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> cv::Mat & indices,</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> cv::Mat & dists,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">int</span> knn,</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">int</span> checks = 32,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> eps = 0.0,</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5"> 229</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">radiusSearch</a>(</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> cv::Mat & query,</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> std::vector<std::vector<size_t> > & indices,</div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> std::vector<std::vector<float> > & dists,</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">float</span> radius,</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">int</span> maxNeighbors = 0,</div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">int</span> checks = 32,</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">float</span> eps = 0.0,</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">void</span> * index_; <span class="comment">// rtflann backend</span></div>
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<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> NanoFlannIndex * nanoIndex_; <span class="comment">// nanoflann backend, only one of the two is set</span></div>
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<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nextIndex_;</div>
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<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">int</span> featuresType_;</div>
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<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordtype">int</span> featuresDim_;</div>
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<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">bool</span> useDistanceL1_; <span class="comment">// true=EUCLEDIAN_L2 false=MANHATTAN_L1</span></div>
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<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">float</span> rebalancingFactor_;</div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm_;</div>
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<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
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<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="comment">// keep feature in memory until the tree is rebuilt</span></div>
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<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="comment">// (in case the word is deleted when removed from the VWDictionary)</span></div>
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<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> std::map<int, cv::Mat> addedDescriptors_;</div>
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<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> std::list<int> removedIndexes_;</div>
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<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span>};</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#aee58e859aa067646b4c6ffd63b593928"> 206</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#aee58e859aa067646b4c6ffd63b593928">knnSearch</a>(</div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keyword">const</span> cv::Mat & query,</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> cv::Mat & indices,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> cv::Mat & dists,</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">int</span> knn,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">int</span> checks = 32,</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> eps = 0.0,</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">int</span> cores = 1) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a28052e827934cfbc6a9ce14f8b5714df"> 231</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a28052e827934cfbc6a9ce14f8b5714df">radiusSearch</a>(</div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">const</span> cv::Mat & query,</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> std::vector<std::vector<size_t> > & indices,</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> std::vector<std::vector<float> > & dists,</div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">float</span> radius,</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">int</span> maxNeighbors = 0,</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">int</span> checks = 32,</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">float</span> eps = 0.0,</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">int</span> cores = 1) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> </div>
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<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">void</span> * index_; <span class="comment">// rtflann backend</span></div>
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<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> NanoFlannIndex * nanoIndex_; <span class="comment">// nanoflann backend, only one of the two is set</span></div>
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<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nextIndex_;</div>
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<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">int</span> featuresType_;</div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">int</span> featuresDim_;</div>
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<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">bool</span> useDistanceL1_; <span class="comment">// true=EUCLEDIAN_L2 false=MANHATTAN_L1</span></div>
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<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">float</span> rebalancingFactor_;</div>
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<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm_;</div>
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<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> </div>
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<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="comment">// keep feature in memory until the tree is rebuilt</span></div>
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<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="comment">// (in case the word is deleted when removed from the VWDictionary)</span></div>
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<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> std::map<int, cv::Mat> addedDescriptors_;</div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> std::list<int> removedIndexes_;</div>
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<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span>};</div>
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</div>
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<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> </div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> </div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_SRC_FLANNINDEX_H_ */</span><span class="preprocessor"></span></div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> </div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> </div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_SRC_FLANNINDEX_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdoc">Nearest neighbor index over a set of features.</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00055">FlannIndex.h:56</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a028eac4aeef64d62b9edea1f7b38a71e"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e">rtabmap::FlannIndex::loadIndex</a></div><div class="ttdeci">bool loadIndex(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</div><div class="ttdoc">Load an index from a raw buffer, see the overload above.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a1f2bf8718a75aa0b5dded8c287293c23"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">rtabmap::FlannIndex::serializeIndex</a></div><div class="ttdeci">std::vector< unsigned char > serializeIndex(bool computeChecksum=true) const</div><div class="ttdoc">Serialize the index, to be given back to loadIndex()</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a37bb608ab9ae1e7db35c2681a0c17eb5"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5">rtabmap::FlannIndex::radiusSearch</a></div><div class="ttdeci">void radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const</div><div class="ttdoc">Search the neighbors of each query within a radius.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a28052e827934cfbc6a9ce14f8b5714df"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a28052e827934cfbc6a9ce14f8b5714df">rtabmap::FlannIndex::radiusSearch</a></div><div class="ttdeci">void radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const</div><div class="ttdoc">Search the neighbors of each query within a radius.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a4a5c33446a515bd8f0c2f73a1adaeb23"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">rtabmap::FlannIndex::isBuilt</a></div><div class="ttdeci">bool isBuilt()</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a5a2eed18fe1216142d09c05243e9d06f"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">rtabmap::FlannIndex::memoryUsed</a></div><div class="ttdeci">size_t memoryUsed() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a6eb4692afb561932aa6a20f7ebdee6c4"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">rtabmap::FlannIndex::release</a></div><div class="ttdeci">void release()</div><div class="ttdoc">Drop the index and everything it holds, back to the state of a new one.</div></div>
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@@ -255,8 +256,8 @@ $(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initRe
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a88ddfe63de9e9f574ac804ade460f010"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">rtabmap::FlannIndex::flann_algorithm_t</a></div><div class="ttdeci">flann_algorithm_t</div><div class="ttdoc">The index structure built by buildIndex()</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00075">FlannIndex.h:76</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a8bd8312e92376d6bf2885907f5d93c68"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">rtabmap::FlannIndex::addPoints</a></div><div class="ttdeci">std::vector< unsigned int > addPoints(const cv::Mat &features)</div><div class="ttdoc">Add features to the index.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_aad2f29314c6b021d1c53217a7a041521"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">rtabmap::FlannIndex::buildIndex</a></div><div class="ttdeci">void buildIndex(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)</div><div class="ttdoc">Build the index over the given features, releasing any previous one.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_accf263b21aaacf3d00e6e73ccef5cc75"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75">rtabmap::FlannIndex::knnSearch</a></div><div class="ttdeci">void knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const</div><div class="ttdoc">Search the k nearest neighbors of each query.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_ace329768df8b54b935fbe7a8921efe69"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">rtabmap::FlannIndex::featuresType</a></div><div class="ttdeci">int featuresType() const</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00169">FlannIndex.h:169</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_aee58e859aa067646b4c6ffd63b593928"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#aee58e859aa067646b4c6ffd63b593928">rtabmap::FlannIndex::knnSearch</a></div><div class="ttdeci">void knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const</div><div class="ttdoc">Search the k nearest neighbors of each query.</div></div>
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<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#l00042">BayesFilter.h:42</a></div></div>
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</div><!-- fragment --></div><!-- contents -->
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</div><!-- doc-content -->
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