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Update documentation (latest) 338e142e58
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@@ -172,253 +172,253 @@ $(document).ready(function(){initNavTree('DBDriver_8h_source.html',''); initResi
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab"> 92</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab">getUrl</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _url;}</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1"> 94</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1">getTargetVersion</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _targetVersion;}</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f"> 97</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">asyncSave</a>(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * s);</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d"> 99</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d">asyncSave</a>(<a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * vw);</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a"> 104</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a">emptyTrashes</a>(<span class="keywordtype">bool</span> async = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">double</span> getEmptyTrashesTime()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyTrashesTime;}</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">void</span> setTimestampUpdateEnabled(<span class="keywordtype">bool</span> enabled) {_timestampUpdate = enabled;} <span class="comment">// used on Update Signature and Word queries</span></div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230"> 115</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230">generateGraph</a>(</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">const</span> std::string & fileName,</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keyword">const</span> std::set<int> & ids = std::set<int>(),</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">const</span> std::map<int, Signature *> & otherSignatures = std::map<int, Signature *>());</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b"> 126</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b">addLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link);</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717"> 128</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717">removeLink</a>(<span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to);</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80"> 130</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80">updateLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link);</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61"> 138</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61">updateOccupancyGrid</a>(</div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">int</span> nodeId,</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">const</span> cv::Mat & ground,</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keyword">const</span> cv::Mat & obstacles,</div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keyword">const</span> cv::Mat & empty,</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">const</span> cv::Point3f & viewpoint);</div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1"> 146</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1">updateCalibration</a>(</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">int</span> nodeId,</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keyword">const</span> std::vector<CameraModel> & models,</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & stereoModels);</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811"> 156</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811">updateDepthImage</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> cv::Mat & image, <span class="keyword">const</span> std::string & format);</div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b"> 162</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b">updateLaserScan</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan);</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">void</span> addInfoAfterRun(<span class="keywordtype">int</span> stMemSize, <span class="keywordtype">int</span> lastSignAdded, <span class="keywordtype">int</span> processMemUsed, <span class="keywordtype">int</span> databaseMemUsed, <span class="keywordtype">int</span> dictionarySize, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832"> 176</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832">addStatistics</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> & statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170"> 182</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170">savePreviewImage</a>(<span class="keyword">const</span> cv::Mat & image) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82"> 184</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82">loadPreviewImage</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4"> 186</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4">saveOptimizedPoses</a>(<span class="keyword">const</span> std::map<int, Transform> & optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & lastlocalizationPose) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55"> 188</a></span> std::map<int, Transform> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55">loadOptimizedPoses</a>(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037"> 190</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037">save2DMap</a>(<span class="keyword">const</span> cv::Mat & map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a"> 192</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a">load2DMap</a>(<span class="keywordtype">float</span> & xMin, <span class="keywordtype">float</span> & yMin, <span class="keywordtype">float</span> & cellSize) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39"> 200</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39">saveOptimizedMesh</a>(</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keyword">const</span> cv::Mat & cloud,</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), <span class="comment">// Textures -> polygons -> vertices</span></div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), <span class="comment">// Textures -> uv coords for each vertex of the polygons</span></div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span>#<span class="keywordflow">else</span></div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), <span class="comment">// Textures -> uv coords for each vertex of the polygons</span></div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span>#endif</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keyword">const</span> cv::Mat & textures = cv::Mat()) <span class="keyword">const</span>; <span class="comment">// concatenated textures (assuming square textures with all same size);</span></div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> cv::Mat loadOptimizedMesh(</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span>#<span class="keywordflow">else</span></div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,</div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span>#endif</div>
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<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> cv::Mat * textures = 0) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea"> 222</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea">saveFlannIndex</a>(<span class="keyword">const</span> std::vector<unsigned char> & indexData) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5"> 231</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5">openConnection</a>(<span class="keyword">const</span> std::string & url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>);</div>
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||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f"> 233</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f">closeConnection</a>(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string & outputUrl = <span class="stringliteral">""</span>);</div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85"> 235</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85">isConnected</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsed() <span class="keyword">const</span>; <span class="comment">// In bytes</span></div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264"> 238</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264">getDatabaseVersion</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">long</span> getNodesMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">long</span> getLinksMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordtype">long</span> getImagesMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordtype">long</span> getGridsMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">long</span> getLaserScansMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">long</span> getUserDataMemoryUsed() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">long</span> getWordsMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">long</span> getFeaturesMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">long</span> getStatisticsMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordtype">int</span> getLastNodesSize() <span class="keyword">const</span>; <span class="comment">// working memory</span></div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">int</span> getLastDictionarySize() <span class="keyword">const</span>; <span class="comment">// working memory</span></div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordtype">int</span> getTotalNodesSize() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordtype">int</span> getTotalDictionarySize() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParameters() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> std::map<std::string, float> getStatistics(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> & stamp, std::vector<int> * wmState=0) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> std::map<int, std::pair<std::map<std::string, float>, <span class="keywordtype">double</span>> > getAllStatistics() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> std::map<int, std::vector<int> > getAllStatisticsWmStates() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> </div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8"> 275</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8">executeNoResult</a>(<span class="keyword">const</span> std::string & sql) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> </div>
|
||||
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="comment">// Load objects</span></div>
|
||||
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordtype">void</span> load(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> & dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keywordtype">void</span> loadLastNodes(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly = <span class="keyword">false</span>) <span class="keyword">const</span>; <span class="comment">// returned signatures must be freed after usage</span></div>
|
||||
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120"> 286</a></span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120">loadSignature</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">bool</span> * loadedFromTrash = 0); <span class="comment">// returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded</span></div>
|
||||
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordtype">void</span> loadSignatures(<span class="keyword">const</span> std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, <span class="keywordtype">bool</span> loadWordIdsOnly = <span class="keyword">false</span>); <span class="comment">// returned signatures must be freed after usage</span></div>
|
||||
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keywordtype">void</span> loadWords(<span class="keyword">const</span> std::set<int> & wordIds, std::list<VisualWord *> & vws); <span class="comment">// returned words must be freed after usage</span></div>
|
||||
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> </div>
|
||||
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="comment">// Specific queries...</span></div>
|
||||
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="keywordtype">void</span> loadNodeData(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & signature, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keywordtype">void</span> loadNodeData(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keywordtype">void</span> getNodeData(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keywordtype">bool</span> getCalibration(<span class="keywordtype">int</span> signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <span class="keywordtype">bool</span> getLaserScanInfo(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & info) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="keywordtype">bool</span> getNodeInfo(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keywordtype">int</span> & mapId, <span class="keywordtype">int</span> & weight, std::string & label, <span class="keywordtype">double</span> & stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruthPose, std::vector<float> & velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <span class="keywordtype">void</span> getLocalFeatures(<span class="keywordtype">int</span> signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d"> 299</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d">loadLinks</a>(<span class="keywordtype">int</span> signatureId, std::multimap<int, Link> & links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">void</span> getWeight(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & weight) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keywordtype">void</span> getLastNodeIds(std::set<int> & ids) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keywordtype">void</span> getAllNodeIds(std::set<int> & ids, <span class="keywordtype">bool</span> ignoreChildren = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreBadSignatures = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keywordtype">void</span> getAllOdomPoses(std::map<int, Transform> & poses, <span class="keywordtype">bool</span> ignoreChildren = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keywordtype">void</span> getAllLinks(std::multimap<int, Link> & links, <span class="keywordtype">bool</span> ignoreNullLinks = <span class="keyword">true</span>, <span class="keywordtype">bool</span> withLandmarks = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordtype">void</span> getLastNodeId(<span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">void</span> getLastMapId(<span class="keywordtype">int</span> & mapId) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">void</span> getLastWordId(<span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">void</span> getInvertedIndexNi(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & ni) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordtype">void</span> getNodesObservingLandmark(<span class="keywordtype">int</span> landmarkId, std::map<int, Link> & nodes) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordtype">void</span> getNodeIdByLabel(<span class="keyword">const</span> std::string & label, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordtype">void</span> getAllLabels(std::map<int, std::string> & labels) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e"> 318</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e">DBDriver</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
|
||||
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> connectDatabaseQuery(<span class="keyword">const</span> std::string & url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>) = 0;</div>
|
||||
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> disconnectDatabaseQuery(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string & outputUrl = <span class="stringliteral">""</span>) = 0;</div>
|
||||
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isConnectedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsedQuery() <span class="keyword">const</span> = 0; <span class="comment">// In bytes</span></div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getDatabaseVersionQuery(std::string & version) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getNodesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLinksMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getGridsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLaserScansMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getUserDataMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getWordsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getFeaturesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getStatisticsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">virtual</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParametersQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">virtual</span> std::map<std::string, float> getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> & stamp, std::vector<int> * wmState) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">virtual</span> std::map<int, std::pair<std::map<std::string, float>, <span class="keywordtype">double</span>> > getAllStatisticsQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">virtual</span> std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> </div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> executeNoResultQuery(<span class="keyword">const</span> std::string & sql) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
|
||||
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getWeightQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & weight) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> </div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<Signature *> & signatures) = 0;</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<VisualWord *> & words) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<Signature *> & signatures, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<VisualWord *> & words, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
|
||||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> </div>
|
||||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateOccupancyGridQuery(</div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <span class="keyword">const</span> cv::Mat & ground,</div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">const</span> cv::Mat & obstacles,</div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keyword">const</span> cv::Mat & empty,</div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keywordtype">float</span> cellSize,</div>
|
||||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keyword">const</span> cv::Point3f & viewpoint) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f"> 108</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">asyncSave</a>(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * s);</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d"> 110</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d">asyncSave</a>(<a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * vw);</div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a"> 115</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a">emptyTrashes</a>(<span class="keywordtype">bool</span> async = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">double</span> getEmptyTrashesTime()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyTrashesTime;}</div>
|
||||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">void</span> setTimestampUpdateEnabled(<span class="keywordtype">bool</span> enabled) {_timestampUpdate = enabled;} <span class="comment">// used on Update Signature and Word queries</span></div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230"> 126</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230">generateGraph</a>(</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">const</span> std::string & fileName,</div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keyword">const</span> std::set<int> & ids = std::set<int>(),</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">const</span> std::map<int, Signature *> & otherSignatures = std::map<int, Signature *>());</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b"> 137</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b">addLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link);</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717"> 139</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717">removeLink</a>(<span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to);</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80"> 141</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80">updateLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link);</div>
|
||||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61"> 149</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61">updateOccupancyGrid</a>(</div>
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">const</span> cv::Mat & ground,</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">const</span> cv::Mat & obstacles,</div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keyword">const</span> cv::Mat & empty,</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">float</span> cellSize,</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> cv::Point3f & viewpoint);</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1"> 157</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1">updateCalibration</a>(</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> std::vector<CameraModel> & models,</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & stereoModels);</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811"> 167</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811">updateDepthImage</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> cv::Mat & image, <span class="keyword">const</span> std::string & format);</div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b"> 173</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b">updateLaserScan</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan);</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">void</span> addInfoAfterRun(<span class="keywordtype">int</span> stMemSize, <span class="keywordtype">int</span> lastSignAdded, <span class="keywordtype">int</span> processMemUsed, <span class="keywordtype">int</span> databaseMemUsed, <span class="keywordtype">int</span> dictionarySize, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832"> 187</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832">addStatistics</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> & statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170"> 193</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170">savePreviewImage</a>(<span class="keyword">const</span> cv::Mat & image) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82"> 195</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82">loadPreviewImage</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4"> 197</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4">saveOptimizedPoses</a>(<span class="keyword">const</span> std::map<int, Transform> & optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & lastlocalizationPose) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55"> 199</a></span> std::map<int, Transform> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55">loadOptimizedPoses</a>(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037"> 201</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037">save2DMap</a>(<span class="keyword">const</span> cv::Mat & map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a"> 203</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a">load2DMap</a>(<span class="keywordtype">float</span> & xMin, <span class="keywordtype">float</span> & yMin, <span class="keywordtype">float</span> & cellSize) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39"> 211</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39">saveOptimizedMesh</a>(</div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keyword">const</span> cv::Mat & cloud,</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), <span class="comment">// Textures -> polygons -> vertices</span></div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), <span class="comment">// Textures -> uv coords for each vertex of the polygons</span></div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), <span class="comment">// Textures -> uv coords for each vertex of the polygons</span></div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span>#endif</div>
|
||||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keyword">const</span> cv::Mat & textures = cv::Mat()) <span class="keyword">const</span>; <span class="comment">// concatenated textures (assuming square textures with all same size);</span></div>
|
||||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> cv::Mat loadOptimizedMesh(</div>
|
||||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,</div>
|
||||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,</div>
|
||||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,</div>
|
||||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span>#endif</div>
|
||||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> cv::Mat * textures = 0) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea"> 233</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea">saveFlannIndex</a>(<span class="keyword">const</span> std::vector<unsigned char> & indexData) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5"> 242</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5">openConnection</a>(<span class="keyword">const</span> std::string & url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f"> 244</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f">closeConnection</a>(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string & outputUrl = <span class="stringliteral">""</span>);</div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85"> 246</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85">isConnected</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsed() <span class="keyword">const</span>; <span class="comment">// In bytes</span></div>
|
||||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264"> 249</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264">getDatabaseVersion</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordtype">long</span> getNodesMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">long</span> getLinksMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordtype">long</span> getImagesMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">long</span> getGridsMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keywordtype">long</span> getLaserScansMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordtype">long</span> getUserDataMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordtype">long</span> getWordsMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordtype">long</span> getFeaturesMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordtype">long</span> getStatisticsMemoryUsed() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keywordtype">int</span> getLastNodesSize() <span class="keyword">const</span>; <span class="comment">// working memory</span></div>
|
||||
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordtype">int</span> getLastDictionarySize() <span class="keyword">const</span>; <span class="comment">// working memory</span></div>
|
||||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordtype">int</span> getTotalNodesSize() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordtype">int</span> getTotalDictionarySize() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParameters() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> std::map<std::string, float> getStatistics(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> & stamp, std::vector<int> * wmState=0) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> std::map<int, std::pair<std::map<std::string, float>, <span class="keywordtype">double</span>> > getAllStatistics() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> std::map<int, std::vector<int> > getAllStatisticsWmStates() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
|
||||
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8"> 286</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8">executeNoResult</a>(<span class="keyword">const</span> std::string & sql) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> </div>
|
||||
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="comment">// Load objects</span></div>
|
||||
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keywordtype">void</span> load(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> & dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <span class="keywordtype">void</span> loadLastNodes(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly = <span class="keyword">false</span>) <span class="keyword">const</span>; <span class="comment">// returned signatures must be freed after usage</span></div>
|
||||
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120"> 297</a></span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120">loadSignature</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">bool</span> * loadedFromTrash = 0); <span class="comment">// returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded</span></div>
|
||||
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keywordtype">void</span> loadSignatures(<span class="keyword">const</span> std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, <span class="keywordtype">bool</span> loadWordIdsOnly = <span class="keyword">false</span>); <span class="comment">// returned signatures must be freed after usage</span></div>
|
||||
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">void</span> loadWords(<span class="keyword">const</span> std::set<int> & wordIds, std::list<VisualWord *> & vws); <span class="comment">// returned words must be freed after usage</span></div>
|
||||
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> </div>
|
||||
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="comment">// Specific queries...</span></div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keywordtype">void</span> loadNodeData(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & signature, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keywordtype">void</span> loadNodeData(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keywordtype">void</span> getNodeData(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordtype">bool</span> getCalibration(<span class="keywordtype">int</span> signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">bool</span> getLaserScanInfo(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & info) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">bool</span> getNodeInfo(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keywordtype">int</span> & mapId, <span class="keywordtype">int</span> & weight, std::string & label, <span class="keywordtype">double</span> & stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruthPose, std::vector<float> & velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">void</span> getLocalFeatures(<span class="keywordtype">int</span> signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d"> 310</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d">loadLinks</a>(<span class="keywordtype">int</span> signatureId, std::multimap<int, Link> & links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordtype">void</span> getWeight(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & weight) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">void</span> getLastNodeIds(std::set<int> & ids) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">void</span> getAllNodeIds(std::set<int> & ids, <span class="keywordtype">bool</span> ignoreChildren = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreBadSignatures = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">void</span> getAllOdomPoses(std::map<int, Transform> & poses, <span class="keywordtype">bool</span> ignoreChildren = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">void</span> getAllLinks(std::multimap<int, Link> & links, <span class="keywordtype">bool</span> ignoreNullLinks = <span class="keyword">true</span>, <span class="keywordtype">bool</span> withLandmarks = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">void</span> getLastNodeId(<span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordtype">void</span> getLastMapId(<span class="keywordtype">int</span> & mapId) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">void</span> getLastWordId(<span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">void</span> getInvertedIndexNi(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & ni) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">void</span> getNodesObservingLandmark(<span class="keywordtype">int</span> landmarkId, std::map<int, Link> & nodes) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordtype">void</span> getNodeIdByLabel(<span class="keyword">const</span> std::string & label, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keywordtype">void</span> getAllLabels(std::map<int, std::string> & labels) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e"> 329</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e">DBDriver</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> </div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> connectDatabaseQuery(<span class="keyword">const</span> std::string & url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>) = 0;</div>
|
||||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> disconnectDatabaseQuery(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string & outputUrl = <span class="stringliteral">""</span>) = 0;</div>
|
||||
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isConnectedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsedQuery() <span class="keyword">const</span> = 0; <span class="comment">// In bytes</span></div>
|
||||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getDatabaseVersionQuery(std::string & version) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getNodesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLinksMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getGridsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLaserScansMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getUserDataMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getWordsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getFeaturesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getStatisticsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">virtual</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParametersQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">virtual</span> std::map<std::string, float> getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> & stamp, std::vector<int> * wmState) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">virtual</span> std::map<int, std::pair<std::map<std::string, float>, <span class="keywordtype">double</span>> > getAllStatisticsQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keyword">virtual</span> std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> </div>
|
||||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> executeNoResultQuery(<span class="keyword">const</span> std::string & sql) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> </div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getWeightQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & weight) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> </div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<Signature *> & signatures) = 0;</div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<VisualWord *> & words) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<Signature *> & signatures, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<VisualWord *> & words, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> </div>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateCalibrationQuery(</div>
|
||||
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keyword">const</span> std::vector<CameraModel> & models,</div>
|
||||
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> </div>
|
||||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateDepthImageQuery(</div>
|
||||
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> cv::Mat & image,</div>
|
||||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keyword">const</span> std::string & format) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> </div>
|
||||
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLaserScanQuery(</div>
|
||||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> </div>
|
||||
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addStatisticsQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> & statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> savePreviewImageQuery(<span class="keyword">const</span> cv::Mat & image) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keyword">virtual</span> cv::Mat loadPreviewImageQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedPosesQuery(<span class="keyword">const</span> std::map<int, Transform> & optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & lastlocalizationPose) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">virtual</span> std::map<int, Transform> loadOptimizedPosesQuery(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> save2DMapQuery(<span class="keyword">const</span> cv::Mat & map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keyword">virtual</span> cv::Mat load2DMapQuery(<span class="keywordtype">float</span> & xMin, <span class="keywordtype">float</span> & yMin, <span class="keywordtype">float</span> & cellSize) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedMeshQuery(</div>
|
||||
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keyword">const</span> cv::Mat & cloud,</div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,</div>
|
||||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords,</div>
|
||||
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span>#endif</div>
|
||||
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keyword">const</span> cv::Mat & textures) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="keyword">virtual</span> cv::Mat loadOptimizedMeshQuery(</div>
|
||||
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,</div>
|
||||
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,</div>
|
||||
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> std::vector<std::vector<Eigen::Vector2f> > * texCoords,</div>
|
||||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span>#endif</div>
|
||||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> cv::Mat * textures) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveFlannIndexQuery(<span class="keyword">const</span> std::vector<unsigned char> & indexData) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
|
||||
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <span class="comment">// Load objects</span></div>
|
||||
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadQuery(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> & dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLastNodesQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadSignaturesQuery(<span class="keyword">const</span> std::list<int> & ids, std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadWordsQuery(<span class="keyword">const</span> std::set<int> & wordIds, std::list<VisualWord *> & vws) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLinksQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, Link> & links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> </div>
|
||||
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadNodeDataQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> images=<span class="keyword">true</span>, <span class="keywordtype">bool</span> scan=<span class="keyword">true</span>, <span class="keywordtype">bool</span> userData=<span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid=<span class="keyword">true</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getCalibrationQuery(<span class="keywordtype">int</span> signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getLaserScanInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & info) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getNodeInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keywordtype">int</span> & mapId, <span class="keywordtype">int</span> & weight, std::string & label, <span class="keywordtype">double</span> & stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruthPose, std::vector<float> & velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLocalFeaturesQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastNodeIdsQuery(std::set<int> & ids) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllNodeIdsQuery(std::set<int> & ids, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreBadSignatures, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllOdomPosesQuery(std::map<int, Transform> & poses, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLinksQuery(std::multimap<int, Link> & links, <span class="keywordtype">bool</span> ignoreNullLinks, <span class="keywordtype">bool</span> withLandmarks) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastIdQuery(<span class="keyword">const</span> std::string & tableName, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string & fieldName=<span class="stringliteral">"id"</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getInvertedIndexNiQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & ni) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodesObservingLandmarkQuery(<span class="keywordtype">int</span> landmarkId, std::map<int, Link> & nodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodeIdByLabelQuery(<span class="keyword">const</span> std::string & label, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLabelsQuery(std::map<int, std::string> & labels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keywordtype">void</span> beginTransaction() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keywordtype">void</span> commit() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> </div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="comment">//non-abstract methods</span></div>
|
||||
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<Signature *> & signatures);</div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<VisualWord *> & words) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> </div>
|
||||
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="comment">//thread stuff</span></div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
|
||||
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> </div>
|
||||
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _transactionMutex;</div>
|
||||
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> std::map<int, Signature *> _trashSignatures;<span class="comment">//<id, Signature*></span></div>
|
||||
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> std::map<int, VisualWord *> _trashVisualWords; <span class="comment">//<id, VisualWord*></span></div>
|
||||
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _trashesMutex;</div>
|
||||
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dbSafeAccessMutex;</div>
|
||||
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _addSem;</div>
|
||||
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> <span class="keywordtype">double</span> _emptyTrashesTime;</div>
|
||||
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> std::string _url;</div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> std::string _targetVersion;</div>
|
||||
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <span class="keywordtype">bool</span> _timestampUpdate;</div>
|
||||
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span>};</div>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> </div>
|
||||
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateOccupancyGridQuery(</div>
|
||||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <span class="keyword">const</span> cv::Mat & ground,</div>
|
||||
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">const</span> cv::Mat & obstacles,</div>
|
||||
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> cv::Mat & empty,</div>
|
||||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keywordtype">float</span> cellSize,</div>
|
||||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">const</span> cv::Point3f & viewpoint) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> </div>
|
||||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateCalibrationQuery(</div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keyword">const</span> std::vector<CameraModel> & models,</div>
|
||||
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> </div>
|
||||
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateDepthImageQuery(</div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> cv::Mat & image,</div>
|
||||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keyword">const</span> std::string & format) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> </div>
|
||||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLaserScanQuery(</div>
|
||||
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
|
||||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addStatisticsQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> & statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> savePreviewImageQuery(<span class="keyword">const</span> cv::Mat & image) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">virtual</span> cv::Mat loadPreviewImageQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedPosesQuery(<span class="keyword">const</span> std::map<int, Transform> & optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & lastlocalizationPose) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keyword">virtual</span> std::map<int, Transform> loadOptimizedPosesQuery(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> save2DMapQuery(<span class="keyword">const</span> cv::Mat & map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keyword">virtual</span> cv::Mat load2DMapQuery(<span class="keywordtype">float</span> & xMin, <span class="keywordtype">float</span> & yMin, <span class="keywordtype">float</span> & cellSize) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedMeshQuery(</div>
|
||||
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">const</span> cv::Mat & cloud,</div>
|
||||
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,</div>
|
||||
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,</div>
|
||||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords,</div>
|
||||
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span>#endif</div>
|
||||
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <span class="keyword">const</span> cv::Mat & textures) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keyword">virtual</span> cv::Mat loadOptimizedMeshQuery(</div>
|
||||
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,</div>
|
||||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,</div>
|
||||
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> std::vector<std::vector<Eigen::Vector2f> > * texCoords,</div>
|
||||
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span>#endif</div>
|
||||
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> cv::Mat * textures) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveFlannIndexQuery(<span class="keyword">const</span> std::vector<unsigned char> & indexData) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> </div>
|
||||
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="comment">// Load objects</span></div>
|
||||
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadQuery(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> & dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLastNodesQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadSignaturesQuery(<span class="keyword">const</span> std::list<int> & ids, std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadWordsQuery(<span class="keyword">const</span> std::set<int> & wordIds, std::list<VisualWord *> & vws) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLinksQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, Link> & links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> </div>
|
||||
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadNodeDataQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> images=<span class="keyword">true</span>, <span class="keywordtype">bool</span> scan=<span class="keyword">true</span>, <span class="keywordtype">bool</span> userData=<span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid=<span class="keyword">true</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getCalibrationQuery(<span class="keywordtype">int</span> signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getLaserScanInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & info) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getNodeInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keywordtype">int</span> & mapId, <span class="keywordtype">int</span> & weight, std::string & label, <span class="keywordtype">double</span> & stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruthPose, std::vector<float> & velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLocalFeaturesQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastNodeIdsQuery(std::set<int> & ids) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllNodeIdsQuery(std::set<int> & ids, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreBadSignatures, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllOdomPosesQuery(std::map<int, Transform> & poses, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLinksQuery(std::multimap<int, Link> & links, <span class="keywordtype">bool</span> ignoreNullLinks, <span class="keywordtype">bool</span> withLandmarks) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastIdQuery(<span class="keyword">const</span> std::string & tableName, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string & fieldName=<span class="stringliteral">"id"</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getInvertedIndexNiQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & ni) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodesObservingLandmarkQuery(<span class="keywordtype">int</span> landmarkId, std::map<int, Link> & nodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodeIdByLabelQuery(<span class="keyword">const</span> std::string & label, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLabelsQuery(std::map<int, std::string> & labels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keywordtype">void</span> beginTransaction() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keywordtype">void</span> commit() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
|
||||
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="comment">//non-abstract methods</span></div>
|
||||
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<Signature *> & signatures);</div>
|
||||
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<VisualWord *> & words) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> </div>
|
||||
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="comment">//thread stuff</span></div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
|
||||
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> </div>
|
||||
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _transactionMutex;</div>
|
||||
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> std::map<int, Signature *> _trashSignatures;<span class="comment">//<id, Signature*></span></div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> std::map<int, VisualWord *> _trashVisualWords; <span class="comment">//<id, VisualWord*></span></div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _trashesMutex;</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dbSafeAccessMutex;</div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _addSem;</div>
|
||||
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="keywordtype">double</span> _emptyTrashesTime;</div>
|
||||
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> std::string _url;</div>
|
||||
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> std::string _targetVersion;</div>
|
||||
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="keywordtype">bool</span> _timestampUpdate;</div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
|
||||
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span>}</div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> </div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span><span class="preprocessor">#endif </span><span class="comment">/* DBDRIVER_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span>}</div>
|
||||
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> </div>
|
||||
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span><span class="preprocessor">#endif </span><span class="comment">/* DBDRIVER_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aUThreadNode_8h_html"><div class="ttname"><a href="UThreadNode_8h.html">UThreadNode.h</a></div><div class="ttdoc">Backward-compatible alias header for UThread.</div></div>
|
||||
<div class="ttc" id="aclassUMutex_html"><div class="ttname"><a href="classUMutex.html">UMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00054">UMutex.h:55</a></div></div>
|
||||
<div class="ttc" id="aclassUSemaphore_html"><div class="ttname"><a href="classUSemaphore.html">USemaphore</a></div><div class="ttdef"><b>Definition</b> <a href="USemaphore_8h_source.html#l00055">USemaphore.h:56</a></div></div>
|
||||
|
||||
@@ -150,9 +150,8 @@ Public Member Functions</h2></td></tr>
|
||||
<tr class="separator:a79365611bce06aeda0d078641be89cab"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a456bc49e8e60e0c754078a4b09e3f1a1" id="r_a456bc49e8e60e0c754078a4b09e3f1a1"><td class="memItemLeft" align="right" valign="top">const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1">getTargetVersion</a> () const</td></tr>
|
||||
<tr class="separator:a456bc49e8e60e0c754078a4b09e3f1a1"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ad1510e157f3ab8df3284528369a6d88f" id="r_ad1510e157f3ab8df3284528369a6d88f"><td class="memItemLeft" align="right" valign="top"><a id="ad1510e157f3ab8df3284528369a6d88f" name="ad1510e157f3ab8df3284528369a6d88f"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>asyncSave</b> (<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> *s)</td></tr>
|
||||
<tr class="memdesc:ad1510e157f3ab8df3284528369a6d88f"><td class="mdescLeft"> </td><td class="mdescRight">Queue a signature for deferred save; ownership is transferred. <br /></td></tr>
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<tr class="memitem:ad1510e157f3ab8df3284528369a6d88f" id="r_ad1510e157f3ab8df3284528369a6d88f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">asyncSave</a> (<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> *s)</td></tr>
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<tr class="memdesc:ad1510e157f3ab8df3284528369a6d88f"><td class="mdescLeft"> </td><td class="mdescRight">Queue a signature for deferred save; ownership is transferred. <br /></td></tr>
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void </td><td class="memItemRight" valign="bottom"><b>asyncSave</b> (<a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> *vw)</td></tr>
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<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00094">94</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad1510e157f3ab8df3284528369a6d88f">◆ </a></span>asyncSave()</h2>
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<td class="memname">void rtabmap::DBDriver::asyncSave </td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * </td>
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<td class="paramname"><em>s</em></td><td>)</td>
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<p>Queue a signature for deferred save; ownership is transferred. </p>
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<dl class="section note"><dt>Note</dt><dd>Only the <em>compressed</em> sensor buffers are written (<a class="el" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029" title="Returns the compressed RGB/grayscale image.">SensorData::imageCompressed()</a>, depthOrRightCompressed(), laserScanCompressed(), ...). Raw matrices are ignored, so a signature carrying only raw data is stored with empty payloads. <a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a> compresses before saving; a caller driving the driver directly should compress first with <a class="el" href="namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99">compressImage2()</a> / <a class="el" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2()</a>, or pass the compressed buffers to <a class="el" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">SensorData::setRGBDImage()</a> / setLaserScan(), which treat a 1-row CV_8UC1 matrix as already compressed. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00105">105</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00116">116</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00106">106</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00117">117</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
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<tr class="separator:a79365611bce06aeda0d078641be89cab inherit pub_methods_classrtabmap_1_1DBDriver"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a456bc49e8e60e0c754078a4b09e3f1a1 inherit pub_methods_classrtabmap_1_1DBDriver" id="r_a456bc49e8e60e0c754078a4b09e3f1a1"><td class="memItemLeft" align="right" valign="top">const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1">getTargetVersion</a> () const</td></tr>
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<tr class="memitem:ad1510e157f3ab8df3284528369a6d88f inherit pub_methods_classrtabmap_1_1DBDriver" id="r_ad1510e157f3ab8df3284528369a6d88f"><td class="memItemLeft" align="right" valign="top">
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void </td><td class="memItemRight" valign="bottom"><b>asyncSave</b> (<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> *s)</td></tr>
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<tr class="memdesc:ad1510e157f3ab8df3284528369a6d88f inherit pub_methods_classrtabmap_1_1DBDriver"><td class="mdescLeft"> </td><td class="mdescRight">Queue a signature for deferred save; ownership is transferred. <br /></td></tr>
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<tr class="memitem:ad1510e157f3ab8df3284528369a6d88f inherit pub_methods_classrtabmap_1_1DBDriver" id="r_ad1510e157f3ab8df3284528369a6d88f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">asyncSave</a> (<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> *s)</td></tr>
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<tr class="memdesc:ad1510e157f3ab8df3284528369a6d88f inherit pub_methods_classrtabmap_1_1DBDriver"><td class="mdescLeft"> </td><td class="mdescRight">Queue a signature for deferred save; ownership is transferred. <br /></td></tr>
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<tr class="memitem:a88eee22aa9707a6993f734fe29f6af5d inherit pub_methods_classrtabmap_1_1DBDriver" id="r_a88eee22aa9707a6993f734fe29f6af5d"><td class="memItemLeft" align="right" valign="top">
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void </td><td class="memItemRight" valign="bottom"><b>asyncSave</b> (<a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> *vw)</td></tr>
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