mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-03 16:47:47 +08:00
647 lines
150 KiB
HTML
647 lines
150 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
|
<meta name="generator" content="Doxygen 1.9.8"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>RTAB-Map: corelib/include/rtabmap/core/Memory.h Source File</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
|
|
<link href="custom.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
|
<script type="text/javascript" src="../versions.js"></script>
|
|
<script type="text/javascript" src="version-switcher.js"></script>
|
|
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
|
|
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr id="projectrow">
|
|
<td id="projectalign">
|
|
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
|
|
</div>
|
|
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.9.8 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','Search');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */
|
|
</script>
|
|
<div id="main-nav"></div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(document).ready(function() { init_codefold(0); });
|
|
/* @license-end */
|
|
</script>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(document).ready(function(){initNavTree('Memory_8h_source.html',''); initResizable(); });
|
|
/* @license-end */
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<div id="MSearchResults">
|
|
<div class="SRPage">
|
|
<div id="SRIndex">
|
|
<div id="SRResults"></div>
|
|
<div class="SRStatus" id="Loading">Loading...</div>
|
|
<div class="SRStatus" id="Searching">Searching...</div>
|
|
<div class="SRStatus" id="NoMatches">No Matches</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="headertitle"><div class="title">Memory.h</div></div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
|
|
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
|
|
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
|
|
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
|
|
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
|
|
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
|
|
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
|
|
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
|
|
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
|
|
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
|
|
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
|
|
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
|
|
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
|
|
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
|
|
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
|
|
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
|
|
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
|
|
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
|
|
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
|
|
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
|
|
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
|
|
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
|
|
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
|
|
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
|
|
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
|
|
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
|
|
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
|
|
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef MEMORY_H_</span></div>
|
|
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define MEMORY_H_</span></div>
|
|
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
|
|
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
|
|
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
|
|
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include "rtabmap/utilite/UEventsHandler.h"</span></div>
|
|
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include "rtabmap/core/Parameters.h"</span></div>
|
|
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include "rtabmap/core/SensorData.h"</span></div>
|
|
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include "rtabmap/core/Link.h"</span></div>
|
|
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "rtabmap/core/Features2d.h"</span></div>
|
|
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <typeinfo></span></div>
|
|
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <list></span></div>
|
|
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <map></span></div>
|
|
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <set></span></div>
|
|
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include "<a class="code" href="UStl_8h.html">rtabmap/utilite/UStl.h</a>"</span></div>
|
|
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
|
|
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#if CV_MAJOR_VERSION < 5</span></div>
|
|
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include <opencv2/features2d/features2d.hpp></span></div>
|
|
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#else</span></div>
|
|
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include <opencv2/features.hpp></span></div>
|
|
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#endif</span></div>
|
|
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="preprocessor">#include <pcl/pcl_config.h></span></div>
|
|
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
|
|
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
|
|
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> </div>
|
|
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="keyword">class </span>Signature;</div>
|
|
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="keyword">class </span>DBDriver;</div>
|
|
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="keyword">class </span>VWDictionary;</div>
|
|
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span><span class="keyword">class </span>VisualWord;</div>
|
|
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="keyword">class </span>Feature2D;</div>
|
|
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">class </span>Statistics;</div>
|
|
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="keyword">class </span>Registration;</div>
|
|
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span><span class="keyword">class </span>RegistrationInfo;</div>
|
|
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword">class </span>RegistrationIcp;</div>
|
|
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="keyword">class </span>RegistrationVis;</div>
|
|
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="keyword">class </span>Stereo;</div>
|
|
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span><span class="keyword">class </span>LocalGridMaker;</div>
|
|
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="keyword">class </span>MarkerDetector;</div>
|
|
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="keyword">class </span>GlobalDescriptorExtractor;</div>
|
|
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
|
|
<div class="foldopen" id="foldopen00101" data-start="{" data-end="};">
|
|
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html"> 101</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a></div>
|
|
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span>{</div>
|
|
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span><span class="keyword">public</span>:</div>
|
|
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a12042e10017298c4dcf6e435c5a2290a"> 105</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1Memory.html#a12042e10017298c4dcf6e435c5a2290a">kIdStart</a>;</div>
|
|
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a539ccf650a81905db46dd6d98112f603"> 107</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1Memory.html#a539ccf650a81905db46dd6d98112f603">kIdVirtual</a>;</div>
|
|
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ac78b3a9a3394eb63c50650a4b8ada68e"> 109</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1Memory.html#ac78b3a9a3394eb63c50650a4b8ada68e">kIdInvalid</a>;</div>
|
|
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
|
|
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span><span class="keyword">public</span>:</div>
|
|
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4"> 119</a></span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4">Memory</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="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">~Memory</a>();</div>
|
|
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
|
|
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#abbf54d2a34838cc13ce98d41a9991918"> 128</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#abbf54d2a34838cc13ce98d41a9991918">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters);</div>
|
|
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#af4cc965870dd757517b126af4860d34d"> 130</a></span> <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & <a class="code hl_function" href="classrtabmap_1_1Memory.html#af4cc965870dd757517b126af4860d34d">getParameters</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> parameters_;}</div>
|
|
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a3c029b2788f3b599480d5150120a6bee"> 141</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a3c029b2788f3b599480d5150120a6bee">update</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data,</div>
|
|
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> * stats = 0);</div>
|
|
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aae43fd080c6bc9773fa58f1c36e6684f"> 157</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aae43fd080c6bc9773fa58f1c36e6684f">update</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data,</div>
|
|
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose,</div>
|
|
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> cv::Mat & covariance,</div>
|
|
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> std::vector<float> & velocity = std::vector<float>(), <span class="comment">// vx,vy,vz,vroll,vpitch,vyaw</span></div>
|
|
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> * stats = 0);</div>
|
|
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aeeabc78648bf7dc14ea1356828cdeddd"> 172</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aeeabc78648bf7dc14ea1356828cdeddd">init</a>(<span class="keyword">const</span> std::string & dbUrl,</div>
|
|
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">bool</span> dbOverwritten = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <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="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> postInitClosingEvents = <span class="keyword">false</span>);</div>
|
|
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a44023158524dee3471a8dff43ea132db"> 186</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a44023158524dee3471a8dff43ea132db">close</a>(<span class="keywordtype">bool</span> databaseSaved = <span class="keyword">true</span>, <span class="keywordtype">bool</span> postInitClosingEvents = <span class="keyword">false</span>, <span class="keyword">const</span> std::string & ouputDatabasePath = <span class="stringliteral">""</span>);</div>
|
|
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a984ca01a87434b11a66dc1d96e2fff17"> 197</a></span> std::map<int, float> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a984ca01a87434b11a66dc1d96e2fff17">computeLikelihood</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * signature,</div>
|
|
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keyword">const</span> std::list<int> & ids);</div>
|
|
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#afce9dbf3e5657d65540e33c59e992d83"> 206</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#afce9dbf3e5657d65540e33c59e992d83">incrementMapId</a>(std::map<int, int> * reducedIds = 0);</div>
|
|
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a76fd8c93220c16fac5843ccc2c0bec3c"> 213</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a76fd8c93220c16fac5843ccc2c0bec3c">updateAge</a>(<span class="keywordtype">int</span> signatureId);</div>
|
|
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
|
|
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a51e89ccab2261912b09a5b7178fdd46c"> 238</a></span> std::list<int> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a51e89ccab2261912b09a5b7178fdd46c">forget</a>(<span class="keyword">const</span> std::set<int> & ignoredIds = std::set<int>());</div>
|
|
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aa244b8581684b85e35d2056cf972e377"> 247</a></span> std::set<int> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aa244b8581684b85e35d2056cf972e377">reactivateSignatures</a>(<span class="keyword">const</span> std::list<int> & ids, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxLoaded, <span class="keywordtype">double</span> & timeDbAccess);</div>
|
|
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
|
|
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#af87e4718dd842c59fd8459430c40d78f"> 253</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#af87e4718dd842c59fd8459430c40d78f">cleanup</a>();</div>
|
|
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#afbcfc92dc9bbc344ab106d2f21d93aaf"> 255</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#afbcfc92dc9bbc344ab106d2f21d93aaf">saveStatistics</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);</div>
|
|
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#affdd654e385b61306a2ac2ea91d13b85"> 257</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#affdd654e385b61306a2ac2ea91d13b85">savePreviewImage</a>(<span class="keyword">const</span> cv::Mat & image) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#abd0d7277526f06861df17e03fa13e817"> 259</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Memory.html#abd0d7277526f06861df17e03fa13e817">loadPreviewImage</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ab7a2da56bb12845f0370a20a9497dfe0"> 261</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ab7a2da56bb12845f0370a20a9497dfe0">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="l00263" name="l00263"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a9e2972a53619456d75ad923fb5e9bc7e"> 263</a></span> std::map<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a9e2972a53619456d75ad923fb5e9bc7e">loadOptimizedPoses</a>(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ac96fffe9fde99f7c74a06bbc5727be6b"> 265</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ac96fffe9fde99f7c74a06bbc5727be6b">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="l00267" name="l00267"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a9a71f27d0de4f7e6400ca470a82be19d"> 267</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Memory.html#a9a71f27d0de4f7e6400ca470a82be19d">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="l00275" name="l00275"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a7e16d27512d0daf17b9dbb17aab3b201"> 275</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a7e16d27512d0daf17b9dbb17aab3b201">saveOptimizedMesh</a>(</div>
|
|
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">const</span> cv::Mat & cloud,</div>
|
|
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</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="l00278" name="l00278"></a><span class="lineno"> 278</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
|
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</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="l00280" name="l00280"></a><span class="lineno"> 280</span>#<span class="keywordflow">else</span></div>
|
|
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</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="l00282" name="l00282"></a><span class="lineno"> 282</span>#endif</div>
|
|
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</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="l00285" name="l00285"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a0827d1d23744b3693f00e518e1b0fda8"> 285</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Memory.html#a0827d1d23744b3693f00e518e1b0fda8">loadOptimizedMesh</a>(</div>
|
|
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,</div>
|
|
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
|
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,</div>
|
|
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span>#<span class="keywordflow">else</span></div>
|
|
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,</div>
|
|
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span>#endif</div>
|
|
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> cv::Mat * textures = 0) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a072ec41027a03072f1a945540b43a1b8"> 294</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a072ec41027a03072f1a945540b43a1b8">emptyTrash</a>();</div>
|
|
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a2bba8c0aa57778bb441a97728d45a58e"> 296</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a2bba8c0aa57778bb441a97728d45a58e">joinTrashThread</a>();</div>
|
|
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4140effa4830fbe679a51e975f0021a1"> 303</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4140effa4830fbe679a51e975f0021a1">addLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link, <span class="keywordtype">bool</span> addInDatabase = <span class="keyword">false</span>);</div>
|
|
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a7c7f80937a35204cb5b44faec8e99736"> 305</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a7c7f80937a35204cb5b44faec8e99736">updateLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link, <span class="keywordtype">bool</span> updateInDatabase = <span class="keyword">false</span>);</div>
|
|
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a838b48bb9c2e6ccfe4f916ea2b2d00fd"> 307</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a838b48bb9c2e6ccfe4f916ea2b2d00fd">removeAllVirtualLinks</a>();</div>
|
|
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aa77fb0f90185a274b3e9d0c609ce14ed"> 309</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aa77fb0f90185a274b3e9d0c609ce14ed">removeVirtualLinks</a>(<span class="keywordtype">int</span> signatureId);</div>
|
|
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a521305f39adcdfbedebbe5bdae9efbc6"> 326</a></span> std::map<int, int> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a521305f39adcdfbedebbe5bdae9efbc6">getNeighborsId</a>(</div>
|
|
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keywordtype">int</span> signatureId,</div>
|
|
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keywordtype">int</span> maxGraphDepth,</div>
|
|
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keywordtype">int</span> maxCheckedInDatabase = -1,</div>
|
|
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordtype">bool</span> incrementMarginOnLoop = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">bool</span> ignoreLoopIds = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">bool</span> ignoreLocalSpaceLoopIds = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keyword">const</span> std::set<int> & nodesSet = std::set<int>(),</div>
|
|
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordtype">double</span> * dbAccessTime = 0) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a10c44ee8a5d84480b41aa4980665d894"> 344</a></span> std::map<int, float> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a10c44ee8a5d84480b41aa4980665d894">getNeighborsIdRadius</a>(</div>
|
|
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keywordtype">int</span> signatureId,</div>
|
|
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordtype">float</span> radius,</div>
|
|
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">const</span> std::map<int, Transform> & optimizedPoses,</div>
|
|
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordtype">int</span> maxGraphDepth) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ae66a7837edc6e844ee9186e61d139300"> 350</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ae66a7837edc6e844ee9186e61d139300">convertToIntermediate</a>(<span class="keywordtype">int</span> locationId);</div>
|
|
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a2b91d8b5d651fbaa12a31e364c793a21"> 365</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a2b91d8b5d651fbaa12a31e364c793a21">deleteLocation</a>(<span class="keywordtype">int</span> locationId, std::list<int> * deletedWords = 0, <span class="keywordtype">bool</span> keepLinkedInDb = <span class="keyword">false</span>);</div>
|
|
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a93119d10342db4a55c77b180cb249453"> 367</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a93119d10342db4a55c77b180cb249453">saveLocationData</a>(<span class="keywordtype">int</span> locationId);</div>
|
|
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a3fcaa79a33d63f7e383d05868b1316e3"> 369</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a3fcaa79a33d63f7e383d05868b1316e3">removeLink</a>(<span class="keywordtype">int</span> idA, <span class="keywordtype">int</span> idB);</div>
|
|
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#acab72b1076370287ac28a1d464d480f0"> 371</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#acab72b1076370287ac28a1d464d480f0">removeRawData</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">bool</span> image = <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>);</div>
|
|
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ac9e6bfaf161d4bd1a9f99d2352492a1d"> 388</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ac9e6bfaf161d4bd1a9f99d2352492a1d">reduceNode</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">float</span> maxDistance = 0.0f, <span class="keywordtype">bool</span> keepLinkedInDb = <span class="keyword">false</span>, <span class="keywordtype">int</span> direction = 0);</div>
|
|
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a655f123daec9e4e50e322db9f3bbd6db"> 397</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a655f123daec9e4e50e322db9f3bbd6db">setDummyDictionary</a>(<span class="keywordtype">bool</span> enabled);</div>
|
|
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> </div>
|
|
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ab6c0794ad1aac6e9084c0240e709cdc6"> 400</a></span> <span class="keyword">const</span> std::map<int, double> & <a class="code hl_function" href="classrtabmap_1_1Memory.html#ab6c0794ad1aac6e9084c0240e709cdc6">getWorkingMem</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _workingMem;}</div>
|
|
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a5ca9260a2a63fae6f3d16e1db9cbce53"> 405</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a5ca9260a2a63fae6f3d16e1db9cbce53">getWorkingMemSize</a>(<span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ad9b97cdfd95eb3c0dad649d755fc3267"> 407</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ad9b97cdfd95eb3c0dad649d755fc3267">getWorkingMemIntermediateNodesCount</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _workingMemIntermediateNodesCount;}</div>
|
|
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a3f3a3da280f9e5ee9bba6df03e551f79"> 409</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a3f3a3da280f9e5ee9bba6df03e551f79">getStMemIntermediateNodesCount</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stMemIntermediateNodesCount;}</div>
|
|
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a007abab13fade6f63b6db3fc279a1631"> 411</a></span> <span class="keyword">const</span> std::set<int> & <a class="code hl_function" href="classrtabmap_1_1Memory.html#a007abab13fade6f63b6db3fc279a1631">getStMem</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stMem;}</div>
|
|
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a41b23c567f6aa6bcc3a756e5ae5c1f33"> 413</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a41b23c567f6aa6bcc3a756e5ae5c1f33">getMaxStMemSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _maxStMemSize;}</div>
|
|
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a172f0d3046c0b7d6b37cdf11af153bee"> 415</a></span> std::multimap<int, Link> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a172f0d3046c0b7d6b37cdf11af153bee">getNeighborLinks</a>(<span class="keywordtype">int</span> signatureId,</div>
|
|
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a88fecb24bd16886d6086937277df5f20"> 418</a></span> std::multimap<int, Link> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a88fecb24bd16886d6086937277df5f20">getLoopClosureLinks</a>(<span class="keywordtype">int</span> signatureId,</div>
|
|
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a7d4e2a2281980bc1b18683fd8fc2ebeb"> 426</a></span> std::multimap<int, Link> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a7d4e2a2281980bc1b18683fd8fc2ebeb">getLinks</a>(<span class="keywordtype">int</span> signatureId,</div>
|
|
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keywordtype">bool</span> withLandmarks = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#acde7a0f34f8896c3c9f002c6cbcc614e"> 430</a></span> std::multimap<int, Link> <a class="code hl_function" href="classrtabmap_1_1Memory.html#acde7a0f34f8896c3c9f002c6cbcc614e">getAllLinks</a>(<span class="keywordtype">bool</span> lookInDatabase, <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="l00432" name="l00432"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a18a6e852d545751fbc348d2aae6d7fe0"> 432</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a18a6e852d545751fbc348d2aae6d7fe0">isBinDataKept</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _binDataKept;}</div>
|
|
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ae1e4c518ec65f86b7a3eade7ac2705c8"> 434</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ae1e4c518ec65f86b7a3eade7ac2705c8">getSimilarityThreshold</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _similarityThreshold;}</div>
|
|
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4d8bfc0b85f270dbb3fc66cde079b63e"> 436</a></span> std::map<int, int> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4d8bfc0b85f270dbb3fc66cde079b63e">getWeights</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a65552e672e67c9f511b3384e3d117de6"> 438</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a65552e672e67c9f511b3384e3d117de6">getLastSignatureId</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ad14c4346a42a621b7834c60de6bc2e63"> 443</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * <a class="code hl_function" href="classrtabmap_1_1Memory.html#ad14c4346a42a621b7834c60de6bc2e63">getLastWorkingSignature</a>(<span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#afe7a1c036129e7ec94905c3650e91cc8"> 445</a></span> std::map<int, Link> <a class="code hl_function" href="classrtabmap_1_1Memory.html#afe7a1c036129e7ec94905c3650e91cc8">getNodesObservingLandmark</a>(<span class="keywordtype">int</span> landmarkId, <span class="keywordtype">bool</span> lookInDatabase) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4907501b27fdfd5b8053b9d932d8dec4"> 447</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4907501b27fdfd5b8053b9d932d8dec4">getSignatureIdByLabel</a>(<span class="keyword">const</span> std::string & label, <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#abba1fbec2be0cfced6e14d723fc45794"> 454</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#abba1fbec2be0cfced6e14d723fc45794">labelSignature</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string & label);</div>
|
|
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a055a0ebfc7e2c128d386f8141dc320ce"> 456</a></span> <span class="keyword">const</span> std::map<int, std::string> & <a class="code hl_function" href="classrtabmap_1_1Memory.html#a055a0ebfc7e2c128d386f8141dc320ce">getAllLabels</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _labels;}</div>
|
|
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#acf7e6cbe5eda50b024cbb1bc82d03b7c"> 458</a></span> <span class="keyword">const</span> std::map<int, std::set<int> > & <a class="code hl_function" href="classrtabmap_1_1Memory.html#acf7e6cbe5eda50b024cbb1bc82d03b7c">getLandmarksIndex</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _landmarksIndex;}</div>
|
|
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a2098205b805bde66a4a57906a8ca95f5"> 460</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a2098205b805bde66a4a57906a8ca95f5">allNodesInWM</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _allNodesInWM;}</div>
|
|
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> </div>
|
|
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aff18f08be0a7951f508276e341759f5c"> 477</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aff18f08be0a7951f508276e341759f5c">setUserData</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> cv::Mat & data);</div>
|
|
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a83d0b30afc46dd66ab3106c9997657c4"> 479</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a83d0b30afc46dd66ab3106c9997657c4">getDatabaseMemoryUsed</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aebd7dd4ef859d70435a5db8e4f398ea5"> 481</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1Memory.html#aebd7dd4ef859d70435a5db8e4f398ea5">getDatabaseVersion</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ab2c3951385254cbb42fb399b407ded24"> 483</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1Memory.html#ab2c3951385254cbb42fb399b407ded24">getDatabaseUrl</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a40ba03d0f1291fc9e45ce86d05479cd3"> 485</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a40ba03d0f1291fc9e45ce86d05479cd3">getDbSavingTime</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a2391cf06d55513bee3cfd50d8beb3a59"> 487</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a2391cf06d55513bee3cfd50d8beb3a59">getMapId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4bb01d27d1ec7776103635b11228626c"> 489</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4bb01d27d1ec7776103635b11228626c">getOdomPose</a>(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a89dd9b0aea5595e929b23ded82cd8ff1"> 491</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a89dd9b0aea5595e929b23ded82cd8ff1">getGroundTruthPose</a>(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ac61afdb7694d54b5e3d146be427638b2"> 493</a></span> <span class="keyword">const</span> std::map<int, Transform> & <a class="code hl_function" href="classrtabmap_1_1Memory.html#ac61afdb7694d54b5e3d146be427638b2">getGroundTruths</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundTruths;}</div>
|
|
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aca3bdb688c64dd62672f2385ce6de594"> 519</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aca3bdb688c64dd62672f2385ce6de594">getGPS</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & offsetENU, <span class="keywordtype">bool</span> lookInDatabase, <span class="keywordtype">int</span> maxGraphDepth = 0) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ae6184a6979703045f34d3e2a155eb9f3"> 536</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ae6184a6979703045f34d3e2a155eb9f3">getNodeInfo</a>(<span class="keywordtype">int</span> signatureId,</div>
|
|
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & odomPose,</div>
|
|
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <span class="keywordtype">int</span> & mapId,</div>
|
|
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <span class="keywordtype">int</span> & weight,</div>
|
|
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> std::string & label,</div>
|
|
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordtype">double</span> & stamp,</div>
|
|
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruth,</div>
|
|
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> std::vector<float> & velocity,</div>
|
|
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps,</div>
|
|
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors,</div>
|
|
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#abc4c40056783163ec5abde9366060cb2"> 548</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Memory.html#abc4c40056783163ec5abde9366060cb2">getImageCompressed</a>(<span class="keywordtype">int</span> signatureId) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a22d6c0b38d8699cdbba73b6bcdb38dd6"> 556</a></span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a22d6c0b38d8699cdbba73b6bcdb38dd6">getNodeData</a>(<span class="keywordtype">int</span> locationId, <span class="keywordtype">bool</span> images, <span class="keywordtype">bool</span> scan, <span class="keywordtype">bool</span> userData, <span class="keywordtype">bool</span> occupancyGrid) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4c555fac41be4b4d44c551c010971dc3"> 558</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4c555fac41be4b4d44c551c010971dc3">getNodeWordsAndGlobalDescriptors</a>(<span class="keywordtype">int</span> nodeId,</div>
|
|
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> std::multimap<int, int> & words,</div>
|
|
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> std::vector<cv::KeyPoint> & wordsKpts,</div>
|
|
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> std::vector<cv::Point3f> & words3,</div>
|
|
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> cv::Mat & wordsDescriptors,</div>
|
|
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> std::vector<GlobalDescriptor> & globalDescriptors) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#af48dbd905dda453b6b2c2246a90d0e04"> 565</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#af48dbd905dda453b6b2c2246a90d0e04">getNodeCalibration</a>(<span class="keywordtype">int</span> nodeId,</div>
|
|
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> std::vector<CameraModel> & models,</div>
|
|
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4c7c344a7f3733a8f30a6e82fbb4f20a"> 572</a></span> std::set<int> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4c7c344a7f3733a8f30a6e82fbb4f20a">getAllSignatureIds</a>(<span class="keywordtype">bool</span> ignoreChildren = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a8720df55fa6f8be933827808d364f20a"> 602</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a8720df55fa6f8be933827808d364f20a">memoryChanged</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _memoryChanged;}</div>
|
|
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a420ddb38a3ffefafc84d22b0dd3b3814"> 607</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a420ddb38a3ffefafc84d22b0dd3b3814">isIncremental</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _incrementalMemory;}</div>
|
|
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ad6d7488b61f8bedf6c9e3f4019a6b7f4"> 614</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ad6d7488b61f8bedf6c9e3f4019a6b7f4">isReadOnly</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !_incrementalMemory && _localizationReadOnly;}</div>
|
|
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a32ed69b783e53be29fca6102ab198a4e"> 619</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a32ed69b783e53be29fca6102ab198a4e">isLocalizationDataSaved</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _localizationDataSaved;}</div>
|
|
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a15ec109dd157745f69dcd4f80efaf561"> 621</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * <a class="code hl_function" href="classrtabmap_1_1Memory.html#a15ec109dd157745f69dcd4f80efaf561">getSignature</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a19fe91598153249250ac4870db535e8e"> 623</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a19fe91598153249250ac4870db535e8e">isInSTM</a>(<span class="keywordtype">int</span> signatureId)<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stMem.find(signatureId) != _stMem.end();}</div>
|
|
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a5058d8b44e4f76f1fedb76645087a1ac"> 625</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a5058d8b44e4f76f1fedb76645087a1ac">isInWM</a>(<span class="keywordtype">int</span> signatureId)<span class="keyword"> const </span>{<span class="keywordflow">return</span> _workingMem.find(signatureId) != _workingMem.end();}</div>
|
|
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a2464a77e0190653e10ce9e60fb919ae9"> 627</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a2464a77e0190653e10ce9e60fb919ae9">isInLTM</a>(<span class="keywordtype">int</span> signatureId)<span class="keyword"> const </span>{<span class="keywordflow">return</span> !this->isInSTM(signatureId) && !this->isInWM(signatureId);}</div>
|
|
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a6d48ff5d4dfcf085123b5dd354fae681"> 629</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a6d48ff5d4dfcf085123b5dd354fae681">isIDsGenerated</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _generateIds;}</div>
|
|
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ad6e8870c75b300a7d526f49467f67913"> 631</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ad6e8870c75b300a7d526f49467f67913">getLastGlobalLoopClosureId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _lastGlobalLoopClosureId;}</div>
|
|
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ab094dfa40b0fe37cb12552a6ba081d6b"> 633</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1Memory.html#ab094dfa40b0fe37cb12552a6ba081d6b">getFeature2D</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _feature2D;}</div>
|
|
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a790e24b6cb0fb3ec2ed198121a6211c1"> 635</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a790e24b6cb0fb3ec2ed198121a6211c1">isGraphReduced</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _reduceGraph;}</div>
|
|
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ae37d02a779acb85797de25da36066829"> 653</a></span> <span class="keyword">const</span> std::vector<double> & <a class="code hl_function" href="classrtabmap_1_1Memory.html#ae37d02a779acb85797de25da36066829">getOdomMaxInf</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _odomMaxInf;}</div>
|
|
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ab29b6d90e79694d7fdfb56574476141f"> 669</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ab29b6d90e79694d7fdfb56574476141f">isOdomGravityUsed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _useOdometryGravity;}</div>
|
|
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> </div>
|
|
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4aef39ff933463d9693e8f4f325f74e7"> 672</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4aef39ff933463d9693e8f4f325f74e7">dumpMemoryTree</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameTree) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a634e2fdc0e1c93a2cb01f07c9cbac33f"> 674</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a634e2fdc0e1c93a2cb01f07c9cbac33f">dumpMemory</a>(std::string directory) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a1b470cb9ff41fd77a35d9a6230750446"> 676</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a1b470cb9ff41fd77a35d9a6230750446">dumpSignatures</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameSign, <span class="keywordtype">bool</span> words3D) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#afc3de4b861e23f90bf753794bcb40e68"> 678</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#afc3de4b861e23f90bf753794bcb40e68">dumpDictionary</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameRef, <span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameDesc) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ad59e8591cd04e2ecd93b4e706f198763"> 680</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ad59e8591cd04e2ecd93b4e706f198763">getMemoryUsed</a>() <span class="keyword">const</span>; <span class="comment">//Bytes</span></div>
|
|
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> </div>
|
|
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aebef354bb315f522b4767337a6bd1ee6"> 687</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aebef354bb315f522b4767337a6bd1ee6">generateGraph</a>(<span class="keyword">const</span> std::string & fileName, <span class="keyword">const</span> std::set<int> & ids = std::set<int>());</div>
|
|
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a6e63312ada575016b583a4252dc0a70c"> 724</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a6e63312ada575016b583a4252dc0a70c">cleanupLocalGrids</a>(</div>
|
|
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
|
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> <span class="keyword">const</span> cv::Mat & map,</div>
|
|
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> <span class="keywordtype">float</span> xMin,</div>
|
|
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> <span class="keywordtype">float</span> yMin,</div>
|
|
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> <span class="keywordtype">float</span> cellSize,</div>
|
|
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> <span class="keywordtype">int</span> cropRadius = 1,</div>
|
|
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> <span class="keywordtype">bool</span> filterScans = <span class="keyword">false</span>);</div>
|
|
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span> </div>
|
|
<div class="line"><a id="l00734" name="l00734"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a61adae3b07b3daee32efd1abb4dac45e"> 734</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> * <a class="code hl_function" href="classrtabmap_1_1Memory.html#a61adae3b07b3daee32efd1abb4dac45e">getVWDictionary</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"> 735</span> </div>
|
|
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ab5329c43c6b185613222d8458c049848"> 747</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#ab5329c43c6b185613222d8458c049848">getMetricConstraints</a>(</div>
|
|
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"> 748</span> <span class="keyword">const</span> std::set<int> & ids,</div>
|
|
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span> std::map<int, Transform> & poses,</div>
|
|
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> std::multimap<int, Link> & links,</div>
|
|
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"> 752</span> <span class="keywordtype">bool</span> landmarksAdded = <span class="keyword">false</span>);</div>
|
|
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> </div>
|
|
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a4ae0287262c04905baab2d6f94448486"> 763</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a4ae0287262c04905baab2d6f94448486">computeTransform</a>(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & fromS, <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & toS, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess, <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> * info = 0, <span class="keywordtype">bool</span> useKnownCorrespondencesIfPossible = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a29636c34234e6e2809e3d57329dc40d6"> 765</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a29636c34234e6e2809e3d57329dc40d6">computeTransform</a>(<span class="keywordtype">int</span> fromId, <span class="keywordtype">int</span> toId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess, <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> * info = 0, <span class="keywordtype">bool</span> useKnownCorrespondencesIfPossible = <span class="keyword">false</span>);</div>
|
|
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aca66c6d1316f9d833b279104a683ee50"> 770</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aca66c6d1316f9d833b279104a683ee50">computeIcpTransform</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & fromS, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & toS, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess, <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> * info = 0) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a34aa7efd5f6ce0fd3136459542ad8ebb"> 779</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a34aa7efd5f6ce0fd3136459542ad8ebb">computeIcpTransformMulti</a>(</div>
|
|
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"> 780</span> <span class="keywordtype">int</span> newId,</div>
|
|
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> <span class="keywordtype">int</span> oldId,</div>
|
|
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"> 782</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
|
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> * info = 0);</div>
|
|
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"> 784</span> </div>
|
|
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span><span class="keyword">private</span>:</div>
|
|
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"> 786</span> <span class="keywordtype">void</span> preUpdate();</div>
|
|
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"> 787</span> <span class="keywordtype">void</span> addSignatureToStm(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * signature, <span class="keyword">const</span> cv::Mat & covariance);</div>
|
|
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> <span class="keywordtype">void</span> clear();</div>
|
|
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span> <span class="keywordtype">void</span> loadDataFromDb(<span class="keywordtype">bool</span> postInitClosingEvents);</div>
|
|
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span> <span class="keywordtype">void</span> saveFlannIndex(<span class="keywordtype">bool</span> postInitClosingEvents);</div>
|
|
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> <span class="keywordtype">void</span> moveToTrash(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * s, <span class="keywordtype">bool</span> keepLinkedToGraph = <span class="keyword">true</span>, std::list<int> * deletedWords = 0);</div>
|
|
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> </div>
|
|
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"> 793</span> <span class="keywordtype">void</span> moveSignatureToWMFromSTM(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> * reducedTo = 0);</div>
|
|
<div class="line"><a id="l00794" name="l00794"></a><span class="lineno"> 794</span> <span class="keywordtype">void</span> addSignatureToWmFromLTM(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * signature);</div>
|
|
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"> 795</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * _getSignature(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> std::list<Signature *> getRemovableSignatures(<span class="keywordtype">int</span> count,</div>
|
|
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"> 797</span> <span class="keyword">const</span> std::set<int> & ignoredIds = std::set<int>());</div>
|
|
<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> <span class="keywordtype">int</span> getNextId();</div>
|
|
<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"> 799</span> <span class="keywordtype">void</span> rehearsal(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * signature, <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> * stats = 0);</div>
|
|
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno"> 800</span> <span class="keywordtype">bool</span> rehearsalMerge(<span class="keywordtype">int</span> oldId, <span class="keywordtype">int</span> newId);</div>
|
|
<div class="line"><a id="l00801" name="l00801"></a><span class="lineno"> 801</span> <span class="keywordtype">bool</span> canBeReduced(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link, <span class="keywordtype">float</span> maxDistance, <span class="keywordtype">int</span> direction);</div>
|
|
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"> 802</span> </div>
|
|
<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"> 803</span> <span class="keyword">const</span> std::map<int, Signature*> & getSignatures()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _signatures;}</div>
|
|
<div class="line"><a id="l00804" name="l00804"></a><span class="lineno"> 804</span> </div>
|
|
<div class="line"><a id="l00805" name="l00805"></a><span class="lineno"> 805</span> <span class="keywordtype">void</span> copyData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * from, <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * to);</div>
|
|
<div class="line"><a id="l00806" name="l00806"></a><span class="lineno"> 806</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * createSignature(</div>
|
|
<div class="line"><a id="l00807" name="l00807"></a><span class="lineno"> 807</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data,</div>
|
|
<div class="line"><a id="l00808" name="l00808"></a><span class="lineno"> 808</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose,</div>
|
|
<div class="line"><a id="l00809" name="l00809"></a><span class="lineno"> 809</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> * stats = 0);</div>
|
|
<div class="line"><a id="l00810" name="l00810"></a><span class="lineno"> 810</span> </div>
|
|
<div class="line"><a id="l00811" name="l00811"></a><span class="lineno"> 811</span> <span class="comment">//keypoint stuff</span></div>
|
|
<div class="line"><a id="l00812" name="l00812"></a><span class="lineno"> 812</span> <span class="keywordtype">void</span> disableWordsRef(<span class="keywordtype">int</span> signatureId);</div>
|
|
<div class="line"><a id="l00813" name="l00813"></a><span class="lineno"> 813</span> <span class="keywordtype">void</span> enableWordsRef(<span class="keyword">const</span> std::list<int> & signatureIds);</div>
|
|
<div class="line"><a id="l00814" name="l00814"></a><span class="lineno"> 814</span> <span class="keywordtype">void</span> cleanUnusedWords();</div>
|
|
<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"> 815</span> <span class="keywordtype">int</span> getNi(<span class="keywordtype">int</span> signatureId) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00816" name="l00816"></a><span class="lineno"> 816</span> </div>
|
|
<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"> 817</span><span class="keyword">protected</span>:</div>
|
|
<div class="line"><a id="l00819" name="l00819"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a6110b0ea8a7b35bae46083f2ce66e148"> 819</a></span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * <a class="code hl_variable" href="classrtabmap_1_1Memory.html#a6110b0ea8a7b35bae46083f2ce66e148">_dbDriver</a>;</div>
|
|
<div class="line"><a id="l00820" name="l00820"></a><span class="lineno"> 820</span> </div>
|
|
<div class="line"><a id="l00821" name="l00821"></a><span class="lineno"> 821</span><span class="keyword">private</span>:</div>
|
|
<div class="line"><a id="l00822" name="l00822"></a><span class="lineno"> 822</span> <span class="comment">// parameters</span></div>
|
|
<div class="line"><a id="l00823" name="l00823"></a><span class="lineno"> 823</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
|
|
<div class="line"><a id="l00824" name="l00824"></a><span class="lineno"> 824</span> <span class="keywordtype">float</span> _similarityThreshold;</div>
|
|
<div class="line"><a id="l00825" name="l00825"></a><span class="lineno"> 825</span> <span class="keywordtype">bool</span> _binDataKept;</div>
|
|
<div class="line"><a id="l00826" name="l00826"></a><span class="lineno"> 826</span> <span class="keywordtype">bool</span> _rawDescriptorsKept;</div>
|
|
<div class="line"><a id="l00827" name="l00827"></a><span class="lineno"> 827</span> <span class="keywordtype">bool</span> _loadVisualLocalFeaturesOnInit;</div>
|
|
<div class="line"><a id="l00828" name="l00828"></a><span class="lineno"> 828</span> <span class="keywordtype">bool</span> _saveDepth16Format;</div>
|
|
<div class="line"><a id="l00829" name="l00829"></a><span class="lineno"> 829</span> <span class="keywordtype">bool</span> _notLinkedNodesKeptInDb;</div>
|
|
<div class="line"><a id="l00830" name="l00830"></a><span class="lineno"> 830</span> <span class="keywordtype">bool</span> _saveIntermediateNodeData;</div>
|
|
<div class="line"><a id="l00831" name="l00831"></a><span class="lineno"> 831</span> std::string _rgbCompressionFormat;</div>
|
|
<div class="line"><a id="l00832" name="l00832"></a><span class="lineno"> 832</span> std::string _depthCompressionFormat;</div>
|
|
<div class="line"><a id="l00833" name="l00833"></a><span class="lineno"> 833</span> <span class="keywordtype">bool</span> _incrementalMemory;</div>
|
|
<div class="line"><a id="l00834" name="l00834"></a><span class="lineno"> 834</span> <span class="keywordtype">bool</span> _localizationReadOnly;</div>
|
|
<div class="line"><a id="l00835" name="l00835"></a><span class="lineno"> 835</span> <span class="keywordtype">bool</span> _localizationDataSaved;</div>
|
|
<div class="line"><a id="l00836" name="l00836"></a><span class="lineno"> 836</span> <span class="keywordtype">bool</span> _flannIndexSaved;</div>
|
|
<div class="line"><a id="l00837" name="l00837"></a><span class="lineno"> 837</span> <span class="keywordtype">bool</span> _reduceGraph;</div>
|
|
<div class="line"><a id="l00838" name="l00838"></a><span class="lineno"> 838</span> <span class="keywordtype">int</span> _maxStMemSize;</div>
|
|
<div class="line"><a id="l00839" name="l00839"></a><span class="lineno"> 839</span> <span class="keywordtype">float</span> _recentWmRatio;</div>
|
|
<div class="line"><a id="l00840" name="l00840"></a><span class="lineno"> 840</span> <span class="keywordtype">bool</span> _transferSortingByWeightId;</div>
|
|
<div class="line"><a id="l00841" name="l00841"></a><span class="lineno"> 841</span> <span class="keywordtype">bool</span> _idUpdatedToNewOneRehearsal;</div>
|
|
<div class="line"><a id="l00842" name="l00842"></a><span class="lineno"> 842</span> <span class="keywordtype">bool</span> _generateIds;</div>
|
|
<div class="line"><a id="l00843" name="l00843"></a><span class="lineno"> 843</span> <span class="keywordtype">bool</span> _badSignaturesIgnored;</div>
|
|
<div class="line"><a id="l00844" name="l00844"></a><span class="lineno"> 844</span> <span class="keywordtype">bool</span> _mapLabelsAdded;</div>
|
|
<div class="line"><a id="l00845" name="l00845"></a><span class="lineno"> 845</span> <span class="keywordtype">bool</span> _depthAsMask;</div>
|
|
<div class="line"><a id="l00846" name="l00846"></a><span class="lineno"> 846</span> <span class="keywordtype">float</span> _maskFloorThreshold;</div>
|
|
<div class="line"><a id="l00847" name="l00847"></a><span class="lineno"> 847</span> <span class="keywordtype">bool</span> _stereoFromMotion;</div>
|
|
<div class="line"><a id="l00848" name="l00848"></a><span class="lineno"> 848</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _imagePreDecimation;</div>
|
|
<div class="line"><a id="l00849" name="l00849"></a><span class="lineno"> 849</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _imagePostDecimation;</div>
|
|
<div class="line"><a id="l00850" name="l00850"></a><span class="lineno"> 850</span> <span class="keywordtype">bool</span> _compressionParallelized;</div>
|
|
<div class="line"><a id="l00851" name="l00851"></a><span class="lineno"> 851</span> <span class="keywordtype">float</span> _laserScanDownsampleStepSize;</div>
|
|
<div class="line"><a id="l00852" name="l00852"></a><span class="lineno"> 852</span> <span class="keywordtype">float</span> _laserScanVoxelSize;</div>
|
|
<div class="line"><a id="l00853" name="l00853"></a><span class="lineno"> 853</span> <span class="keywordtype">int</span> _laserScanNormalK;</div>
|
|
<div class="line"><a id="l00854" name="l00854"></a><span class="lineno"> 854</span> <span class="keywordtype">float</span> _laserScanNormalRadius;</div>
|
|
<div class="line"><a id="l00855" name="l00855"></a><span class="lineno"> 855</span> <span class="keywordtype">float</span> _laserScanGroundNormalsUp;</div>
|
|
<div class="line"><a id="l00856" name="l00856"></a><span class="lineno"> 856</span> <span class="keywordtype">bool</span> _reextractLoopClosureFeatures;</div>
|
|
<div class="line"><a id="l00857" name="l00857"></a><span class="lineno"> 857</span> <span class="keywordtype">bool</span> _localBundleOnLoopClosure;</div>
|
|
<div class="line"><a id="l00858" name="l00858"></a><span class="lineno"> 858</span> <span class="keywordtype">bool</span> _invertedReg;</div>
|
|
<div class="line"><a id="l00859" name="l00859"></a><span class="lineno"> 859</span> <span class="keywordtype">float</span> _rehearsalMaxDistance;</div>
|
|
<div class="line"><a id="l00860" name="l00860"></a><span class="lineno"> 860</span> <span class="keywordtype">float</span> _rehearsalMaxAngle;</div>
|
|
<div class="line"><a id="l00861" name="l00861"></a><span class="lineno"> 861</span> <span class="keywordtype">bool</span> _rehearsalWeightIgnoredWhileMoving;</div>
|
|
<div class="line"><a id="l00862" name="l00862"></a><span class="lineno"> 862</span> <span class="keywordtype">bool</span> _useOdometryFeatures;</div>
|
|
<div class="line"><a id="l00863" name="l00863"></a><span class="lineno"> 863</span> <span class="keywordtype">bool</span> _useOdometryGravity;</div>
|
|
<div class="line"><a id="l00864" name="l00864"></a><span class="lineno"> 864</span> <span class="keywordtype">bool</span> _rotateImagesUpsideUp;</div>
|
|
<div class="line"><a id="l00865" name="l00865"></a><span class="lineno"> 865</span> <span class="keywordtype">bool</span> _createOccupancyGrid;</div>
|
|
<div class="line"><a id="l00866" name="l00866"></a><span class="lineno"> 866</span> <span class="keywordtype">int</span> _visMaxFeatures;</div>
|
|
<div class="line"><a id="l00867" name="l00867"></a><span class="lineno"> 867</span> <span class="keywordtype">bool</span> _visSSC;</div>
|
|
<div class="line"><a id="l00868" name="l00868"></a><span class="lineno"> 868</span> <span class="keywordtype">bool</span> _imagesAlreadyRectified;</div>
|
|
<div class="line"><a id="l00869" name="l00869"></a><span class="lineno"> 869</span> <span class="keywordtype">bool</span> _rectifyOnlyFeatures;</div>
|
|
<div class="line"><a id="l00870" name="l00870"></a><span class="lineno"> 870</span> <span class="keywordtype">bool</span> _covOffDiagonalIgnored;</div>
|
|
<div class="line"><a id="l00871" name="l00871"></a><span class="lineno"> 871</span> <span class="keywordtype">bool</span> _detectMarkers;</div>
|
|
<div class="line"><a id="l00872" name="l00872"></a><span class="lineno"> 872</span> <span class="keywordtype">float</span> _markerLinVariance;</div>
|
|
<div class="line"><a id="l00873" name="l00873"></a><span class="lineno"> 873</span> <span class="keywordtype">float</span> _markerAngVariance;</div>
|
|
<div class="line"><a id="l00874" name="l00874"></a><span class="lineno"> 874</span> <span class="keywordtype">bool</span> _markerOrientationIgnored;</div>
|
|
<div class="line"><a id="l00875" name="l00875"></a><span class="lineno"> 875</span> </div>
|
|
<div class="line"><a id="l00876" name="l00876"></a><span class="lineno"> 876</span> <span class="keywordtype">int</span> _idCount;</div>
|
|
<div class="line"><a id="l00877" name="l00877"></a><span class="lineno"> 877</span> <span class="keywordtype">int</span> _idMapCount;</div>
|
|
<div class="line"><a id="l00878" name="l00878"></a><span class="lineno"> 878</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * _lastSignature;</div>
|
|
<div class="line"><a id="l00879" name="l00879"></a><span class="lineno"> 879</span> <span class="keywordtype">int</span> _lastGlobalLoopClosureId;</div>
|
|
<div class="line"><a id="l00880" name="l00880"></a><span class="lineno"> 880</span> <span class="keywordtype">bool</span> _memoryChanged; <span class="comment">// False by default, become true only when Memory::update() is called.</span></div>
|
|
<div class="line"><a id="l00881" name="l00881"></a><span class="lineno"> 881</span> <span class="keywordtype">bool</span> _linksChanged; <span class="comment">// False by default, become true when links are modified.</span></div>
|
|
<div class="line"><a id="l00882" name="l00882"></a><span class="lineno"> 882</span> <span class="keywordtype">int</span> _signaturesAdded;</div>
|
|
<div class="line"><a id="l00883" name="l00883"></a><span class="lineno"> 883</span> <span class="keywordtype">int</span> _workingMemIntermediateNodesCount; <span class="comment">// number of nodes with weight==-1 currently in _workingMem</span></div>
|
|
<div class="line"><a id="l00884" name="l00884"></a><span class="lineno"> 884</span> <span class="keywordtype">int</span> _stMemIntermediateNodesCount; <span class="comment">// number of nodes with weight==-1 currently in _stMem</span></div>
|
|
<div class="line"><a id="l00885" name="l00885"></a><span class="lineno"> 885</span> <span class="keywordtype">bool</span> _allNodesInWM;</div>
|
|
<div class="line"><a id="l00886" name="l00886"></a><span class="lineno"> 886</span> <span class="keywordtype">bool</span> _receivingOdometryFeatures;</div>
|
|
<div class="line"><a id="l00887" name="l00887"></a><span class="lineno"> 887</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> _gpsOrigin;</div>
|
|
<div class="line"><a id="l00888" name="l00888"></a><span class="lineno"> 888</span> std::vector<CameraModel> _rectCameraModels;</div>
|
|
<div class="line"><a id="l00889" name="l00889"></a><span class="lineno"> 889</span> std::vector<StereoCameraModel> _rectStereoCameraModels;</div>
|
|
<div class="line"><a id="l00890" name="l00890"></a><span class="lineno"> 890</span> std::vector<double> _odomMaxInf;</div>
|
|
<div class="line"><a id="l00891" name="l00891"></a><span class="lineno"> 891</span> </div>
|
|
<div class="line"><a id="l00892" name="l00892"></a><span class="lineno"> 892</span> std::map<int, Signature *> _signatures; <span class="comment">// TODO : check if a signature is already added? although it is not supposed to occur...</span></div>
|
|
<div class="line"><a id="l00893" name="l00893"></a><span class="lineno"> 893</span> std::set<int> _stMem; <span class="comment">// id</span></div>
|
|
<div class="line"><a id="l00894" name="l00894"></a><span class="lineno"> 894</span> std::map<int, double> _workingMem; <span class="comment">// id,age</span></div>
|
|
<div class="line"><a id="l00895" name="l00895"></a><span class="lineno"> 895</span> std::map<int, Transform> _groundTruths;</div>
|
|
<div class="line"><a id="l00896" name="l00896"></a><span class="lineno"> 896</span> std::map<int, std::string> _labels;</div>
|
|
<div class="line"><a id="l00897" name="l00897"></a><span class="lineno"> 897</span> std::map<int, std::set<int> > _landmarksIndex; <span class="comment">// < -landmarkId, nodeIds ></span></div>
|
|
<div class="line"><a id="l00898" name="l00898"></a><span class="lineno"> 898</span> std::map<int, float> _landmarksSize; <span class="comment">// +landmarkId</span></div>
|
|
<div class="line"><a id="l00899" name="l00899"></a><span class="lineno"> 899</span> </div>
|
|
<div class="line"><a id="l00900" name="l00900"></a><span class="lineno"> 900</span> <span class="comment">//Keypoint stuff</span></div>
|
|
<div class="line"><a id="l00901" name="l00901"></a><span class="lineno"> 901</span> <a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> * _vwd;</div>
|
|
<div class="line"><a id="l00902" name="l00902"></a><span class="lineno"> 902</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * _feature2D;</div>
|
|
<div class="line"><a id="l00903" name="l00903"></a><span class="lineno"> 903</span> <span class="keywordtype">float</span> _badSignRatio;</div>
|
|
<div class="line"><a id="l00904" name="l00904"></a><span class="lineno"> 904</span> <span class="keywordtype">bool</span> _tfIdfLikelihoodUsed;</div>
|
|
<div class="line"><a id="l00905" name="l00905"></a><span class="lineno"> 905</span> <span class="keywordtype">bool</span> _parallelized;</div>
|
|
<div class="line"><a id="l00906" name="l00906"></a><span class="lineno"> 906</span> </div>
|
|
<div class="line"><a id="l00907" name="l00907"></a><span class="lineno"> 907</span> <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * _registrationPipeline;</div>
|
|
<div class="line"><a id="l00908" name="l00908"></a><span class="lineno"> 908</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a> * _registrationIcpMulti;</div>
|
|
<div class="line"><a id="l00909" name="l00909"></a><span class="lineno"> 909</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationVis.html">RegistrationVis</a> * _registrationVis;</div>
|
|
<div class="line"><a id="l00910" name="l00910"></a><span class="lineno"> 910</span> </div>
|
|
<div class="line"><a id="l00911" name="l00911"></a><span class="lineno"> 911</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridMaker.html">LocalGridMaker</a> * _localMapMaker;</div>
|
|
<div class="line"><a id="l00912" name="l00912"></a><span class="lineno"> 912</span> </div>
|
|
<div class="line"><a id="l00913" name="l00913"></a><span class="lineno"> 913</span> <a class="code hl_class" href="classrtabmap_1_1MarkerDetector.html">MarkerDetector</a> * _markerDetector;</div>
|
|
<div class="line"><a id="l00914" name="l00914"></a><span class="lineno"> 914</span> </div>
|
|
<div class="line"><a id="l00915" name="l00915"></a><span class="lineno"> 915</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a> * _globalDescriptorExtractor;</div>
|
|
<div class="line"><a id="l00916" name="l00916"></a><span class="lineno"> 916</span> </div>
|
|
<div class="line"><a id="l00917" name="l00917"></a><span class="lineno"> 917</span> <span class="keywordtype">bool</span> _dummyDictionary;</div>
|
|
<div class="line"><a id="l00918" name="l00918"></a><span class="lineno"> 918</span>};</div>
|
|
</div>
|
|
<div class="line"><a id="l00919" name="l00919"></a><span class="lineno"> 919</span> </div>
|
|
<div class="line"><a id="l00920" name="l00920"></a><span class="lineno"> 920</span>} <span class="comment">// namespace rtabmap</span></div>
|
|
<div class="line"><a id="l00921" name="l00921"></a><span class="lineno"> 921</span> </div>
|
|
<div class="line"><a id="l00922" name="l00922"></a><span class="lineno"> 922</span><span class="preprocessor">#endif </span><span class="comment">/* MEMORY_H_ */</span><span class="preprocessor"></span></div>
|
|
<div class="ttc" id="aUStl_8h_html"><div class="ttname"><a href="UStl_8h.html">UStl.h</a></div><div class="ttdoc">Wrappers of STL for convenient functions.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html">rtabmap::DBDriver</a></div><div class="ttdoc">Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00071">DBDriver.h:72</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Feature2D_html"><div class="ttname"><a href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></div><div class="ttdoc">Abstract 2D feature detector and descriptor extractor for visual SLAM.</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00145">Features2d.h:145</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1GPS_html"><div class="ttname"><a href="classrtabmap_1_1GPS.html">rtabmap::GPS</a></div><div class="ttdoc">WGS84 GPS fix attached to a sensor sample or graph node.</div><div class="ttdef"><b>Definition</b> <a href="GPS_8h_source.html#l00046">GPS.h:47</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1GlobalDescriptorExtractor_html"><div class="ttname"><a href="classrtabmap_1_1GlobalDescriptorExtractor.html">rtabmap::GlobalDescriptorExtractor</a></div><div class="ttdef"><b>Definition</b> <a href="GlobalDescriptorExtractor_8h_source.html#l00040">GlobalDescriptorExtractor.h:40</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html">rtabmap::LocalGridMaker</a></div><div class="ttdoc">Builds per-node local occupancy grids from laser scans or depth clouds.</div><div class="ttdef"><b>Definition</b> <a href="LocalGridMaker_8h_source.html#l00064">LocalGridMaker.h:65</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1MarkerDetector_html"><div class="ttname"><a href="classrtabmap_1_1MarkerDetector.html">rtabmap::MarkerDetector</a></div><div class="ttdef"><b>Definition</b> <a href="MarkerDetector_8h_source.html#l00059">MarkerDetector.h:59</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a007abab13fade6f63b6db3fc279a1631"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a007abab13fade6f63b6db3fc279a1631">rtabmap::Memory::getStMem</a></div><div class="ttdeci">const std::set< int > & getStMem() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00411">Memory.h:411</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a055a0ebfc7e2c128d386f8141dc320ce"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a055a0ebfc7e2c128d386f8141dc320ce">rtabmap::Memory::getAllLabels</a></div><div class="ttdeci">const std::map< int, std::string > & getAllLabels() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00456">Memory.h:456</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a072ec41027a03072f1a945540b43a1b8"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a072ec41027a03072f1a945540b43a1b8">rtabmap::Memory::emptyTrash</a></div><div class="ttdeci">void emptyTrash()</div><div class="ttdoc">Forces the database driver to flush any queued signature/word saves.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a0827d1d23744b3693f00e518e1b0fda8"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a0827d1d23744b3693f00e518e1b0fda8">rtabmap::Memory::loadOptimizedMesh</a></div><div class="ttdeci">cv::Mat loadOptimizedMesh(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const</div><div class="ttdoc">Loads the optimized mesh previously written by saveOptimizedMesh().</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a10c44ee8a5d84480b41aa4980665d894"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a10c44ee8a5d84480b41aa4980665d894">rtabmap::Memory::getNeighborsIdRadius</a></div><div class="ttdeci">std::map< int, float > getNeighborsIdRadius(int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) const</div><div class="ttdoc">Returns neighbor ids within a Euclidean radius using optimized poses.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a12042e10017298c4dcf6e435c5a2290a"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a12042e10017298c4dcf6e435c5a2290a">rtabmap::Memory::kIdStart</a></div><div class="ttdeci">static const int kIdStart</div><div class="ttdoc">First valid signature id assigned to a new signature (positive integer).</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00105">Memory.h:105</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a15ec109dd157745f69dcd4f80efaf561"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a15ec109dd157745f69dcd4f80efaf561">rtabmap::Memory::getSignature</a></div><div class="ttdeci">const Signature * getSignature(int id) const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a172f0d3046c0b7d6b37cdf11af153bee"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a172f0d3046c0b7d6b37cdf11af153bee">rtabmap::Memory::getNeighborLinks</a></div><div class="ttdeci">std::multimap< int, Link > getNeighborLinks(int signatureId, bool lookInDatabase=false) const</div><div class="ttdoc">Returns neighbor (sequential) links of signatureId; lookInDatabase also checks LTM.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a18a6e852d545751fbc348d2aae6d7fe0"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a18a6e852d545751fbc348d2aae6d7fe0">rtabmap::Memory::isBinDataKept</a></div><div class="ttdeci">bool isBinDataKept() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00432">Memory.h:432</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a19fe91598153249250ac4870db535e8e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a19fe91598153249250ac4870db535e8e">rtabmap::Memory::isInSTM</a></div><div class="ttdeci">bool isInSTM(int signatureId) const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00623">Memory.h:623</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a1b470cb9ff41fd77a35d9a6230750446"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a1b470cb9ff41fd77a35d9a6230750446">rtabmap::Memory::dumpSignatures</a></div><div class="ttdeci">virtual void dumpSignatures(const char *fileNameSign, bool words3D) const</div><div class="ttdoc">Dumps signatures' word ids (and 3D positions if words3D) to fileNameSign.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a2098205b805bde66a4a57906a8ca95f5"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a2098205b805bde66a4a57906a8ca95f5">rtabmap::Memory::allNodesInWM</a></div><div class="ttdeci">bool allNodesInWM() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00460">Memory.h:460</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a22d6c0b38d8699cdbba73b6bcdb38dd6"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a22d6c0b38d8699cdbba73b6bcdb38dd6">rtabmap::Memory::getNodeData</a></div><div class="ttdeci">SensorData getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const</div><div class="ttdoc">Loads sensor data of locationId from WM or LTM.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a2391cf06d55513bee3cfd50d8beb3a59"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a2391cf06d55513bee3cfd50d8beb3a59">rtabmap::Memory::getMapId</a></div><div class="ttdeci">int getMapId(int id, bool lookInDatabase=false) const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a2464a77e0190653e10ce9e60fb919ae9"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a2464a77e0190653e10ce9e60fb919ae9">rtabmap::Memory::isInLTM</a></div><div class="ttdeci">bool isInLTM(int signatureId) const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00627">Memory.h:627</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a24d451cdf46a9cc04cce995142a101d4"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4">rtabmap::Memory::Memory</a></div><div class="ttdeci">Memory(const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Constructs a Memory instance with the given parameters.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a29636c34234e6e2809e3d57329dc40d6"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a29636c34234e6e2809e3d57329dc40d6">rtabmap::Memory::computeTransform</a></div><div class="ttdeci">Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false)</div><div class="ttdoc">Convenience overload: loads signatures by id and forwards to the Signature variant.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a2b91d8b5d651fbaa12a31e364c793a21"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a2b91d8b5d651fbaa12a31e364c793a21">rtabmap::Memory::deleteLocation</a></div><div class="ttdeci">void deleteLocation(int locationId, std::list< int > *deletedWords=0, bool keepLinkedInDb=false)</div><div class="ttdoc">Removes locationId from WM/STM and the database.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a2bba8c0aa57778bb441a97728d45a58e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a2bba8c0aa57778bb441a97728d45a58e">rtabmap::Memory::joinTrashThread</a></div><div class="ttdeci">void joinTrashThread()</div><div class="ttdoc">Blocks until the asynchronous database write thread has finished pending work.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a32ed69b783e53be29fca6102ab198a4e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a32ed69b783e53be29fca6102ab198a4e">rtabmap::Memory::isLocalizationDataSaved</a></div><div class="ttdeci">bool isLocalizationDataSaved() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00619">Memory.h:619</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a34aa7efd5f6ce0fd3136459542ad8ebb"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a34aa7efd5f6ce0fd3136459542ad8ebb">rtabmap::Memory::computeIcpTransformMulti</a></div><div class="ttdeci">Transform computeIcpTransformMulti(int newId, int oldId, const std::map< int, Transform > &poses, RegistrationInfo *info=0)</div><div class="ttdoc">ICP registration of one node against an assembled cloud from multiple neighbors.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a3c029b2788f3b599480d5150120a6bee"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a3c029b2788f3b599480d5150120a6bee">rtabmap::Memory::update</a></div><div class="ttdeci">bool update(const SensorData &data, Statistics *stats=0)</div><div class="ttdoc">Adds a sensor observation to the map (overload without odometry pose).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a3f3a3da280f9e5ee9bba6df03e551f79"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a3f3a3da280f9e5ee9bba6df03e551f79">rtabmap::Memory::getStMemIntermediateNodesCount</a></div><div class="ttdeci">int getStMemIntermediateNodesCount() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00409">Memory.h:409</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a3fcaa79a33d63f7e383d05868b1316e3"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a3fcaa79a33d63f7e383d05868b1316e3">rtabmap::Memory::removeLink</a></div><div class="ttdeci">void removeLink(int idA, int idB)</div><div class="ttdoc">Removes any link between idA and idB (both directions).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a40ba03d0f1291fc9e45ce86d05479cd3"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a40ba03d0f1291fc9e45ce86d05479cd3">rtabmap::Memory::getDbSavingTime</a></div><div class="ttdeci">double getDbSavingTime() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4140effa4830fbe679a51e975f0021a1"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4140effa4830fbe679a51e975f0021a1">rtabmap::Memory::addLink</a></div><div class="ttdeci">bool addLink(const Link &link, bool addInDatabase=false)</div><div class="ttdoc">Adds a graph link between two signatures.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a41b23c567f6aa6bcc3a756e5ae5c1f33"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a41b23c567f6aa6bcc3a756e5ae5c1f33">rtabmap::Memory::getMaxStMemSize</a></div><div class="ttdeci">int getMaxStMemSize() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00413">Memory.h:413</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a420ddb38a3ffefafc84d22b0dd3b3814"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a420ddb38a3ffefafc84d22b0dd3b3814">rtabmap::Memory::isIncremental</a></div><div class="ttdeci">bool isIncremental() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00607">Memory.h:607</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a44023158524dee3471a8dff43ea132db"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a44023158524dee3471a8dff43ea132db">rtabmap::Memory::close</a></div><div class="ttdeci">void close(bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")</div><div class="ttdoc">Flushes pending data and closes the database connection.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4907501b27fdfd5b8053b9d932d8dec4"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4907501b27fdfd5b8053b9d932d8dec4">rtabmap::Memory::getSignatureIdByLabel</a></div><div class="ttdeci">int getSignatureIdByLabel(const std::string &label, bool lookInDatabase=true) const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4ae0287262c04905baab2d6f94448486"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4ae0287262c04905baab2d6f94448486">rtabmap::Memory::computeTransform</a></div><div class="ttdeci">Transform computeTransform(Signature &fromS, Signature &toS, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false) const</div><div class="ttdoc">Computes the relative transform from fromS to toS using the registration pipeline.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4aef39ff933463d9693e8f4f325f74e7"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4aef39ff933463d9693e8f4f325f74e7">rtabmap::Memory::dumpMemoryTree</a></div><div class="ttdeci">void dumpMemoryTree(const char *fileNameTree) const</div><div class="ttdoc">Writes a human-readable dump of WM/STM, links and weights to fileNameTree.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4bb01d27d1ec7776103635b11228626c"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4bb01d27d1ec7776103635b11228626c">rtabmap::Memory::getOdomPose</a></div><div class="ttdeci">Transform getOdomPose(int signatureId, bool lookInDatabase=false) const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4c555fac41be4b4d44c551c010971dc3"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4c555fac41be4b4d44c551c010971dc3">rtabmap::Memory::getNodeWordsAndGlobalDescriptors</a></div><div class="ttdeci">void getNodeWordsAndGlobalDescriptors(int nodeId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &wordsKpts, std::vector< cv::Point3f > &words3, cv::Mat &wordsDescriptors, std::vector< GlobalDescriptor > &globalDescriptors) const</div><div class="ttdoc">Loads the visual words, 3D points and global descriptors stored with nodeId.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4c7c344a7f3733a8f30a6e82fbb4f20a"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4c7c344a7f3733a8f30a6e82fbb4f20a">rtabmap::Memory::getAllSignatureIds</a></div><div class="ttdeci">std::set< int > getAllSignatureIds(bool ignoreChildren=true) const</div><div class="ttdoc">Returns all signature ids in WM, STM and LTM.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a4d8bfc0b85f270dbb3fc66cde079b63e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a4d8bfc0b85f270dbb3fc66cde079b63e">rtabmap::Memory::getWeights</a></div><div class="ttdeci">std::map< int, int > getWeights() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a5058d8b44e4f76f1fedb76645087a1ac"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a5058d8b44e4f76f1fedb76645087a1ac">rtabmap::Memory::isInWM</a></div><div class="ttdeci">bool isInWM(int signatureId) const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00625">Memory.h:625</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a51e89ccab2261912b09a5b7178fdd46c"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a51e89ccab2261912b09a5b7178fdd46c">rtabmap::Memory::forget</a></div><div class="ttdeci">std::list< int > forget(const std::set< int > &ignoredIds=std::set< int >())</div><div class="ttdoc">Transfers oldest signatures from WM to LTM to respect memory and/or time limits.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a521305f39adcdfbedebbe5bdae9efbc6"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a521305f39adcdfbedebbe5bdae9efbc6">rtabmap::Memory::getNeighborsId</a></div><div class="ttdeci">std::map< int, int > getNeighborsId(int signatureId, int maxGraphDepth, int maxCheckedInDatabase=-1, bool incrementMarginOnLoop=false, bool ignoreLoopIds=false, bool ignoreIntermediateNodes=false, bool ignoreLocalSpaceLoopIds=false, const std::set< int > &nodesSet=std::set< int >(), double *dbAccessTime=0) const</div><div class="ttdoc">Breadth-first walk of the pose graph from signatureId.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a539ccf650a81905db46dd6d98112f603"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a539ccf650a81905db46dd6d98112f603">rtabmap::Memory::kIdVirtual</a></div><div class="ttdeci">static const int kIdVirtual</div><div class="ttdoc">Reserved id for the "virtual place" used by the Bayes filter (negative).</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00107">Memory.h:107</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a5ca9260a2a63fae6f3d16e1db9cbce53"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a5ca9260a2a63fae6f3d16e1db9cbce53">rtabmap::Memory::getWorkingMemSize</a></div><div class="ttdeci">size_t getWorkingMemSize(bool ignoreIntermediateNodes=false) const</div><div class="ttdoc">Returns the number of signatures in working memory, excluding the virtual place.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a6110b0ea8a7b35bae46083f2ce66e148"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a6110b0ea8a7b35bae46083f2ce66e148">rtabmap::Memory::_dbDriver</a></div><div class="ttdeci">DBDriver * _dbDriver</div><div class="ttdoc">Database driver owning the persistent storage (created by init()).</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00819">Memory.h:819</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a61adae3b07b3daee32efd1abb4dac45e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a61adae3b07b3daee32efd1abb4dac45e">rtabmap::Memory::getVWDictionary</a></div><div class="ttdeci">const VWDictionary * getVWDictionary() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a634e2fdc0e1c93a2cb01f07c9cbac33f"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a634e2fdc0e1c93a2cb01f07c9cbac33f">rtabmap::Memory::dumpMemory</a></div><div class="ttdeci">virtual void dumpMemory(std::string directory) const</div><div class="ttdoc">Dumps every internal map (signatures, words, dictionary) to text files in directory.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a65552e672e67c9f511b3384e3d117de6"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a65552e672e67c9f511b3384e3d117de6">rtabmap::Memory::getLastSignatureId</a></div><div class="ttdeci">int getLastSignatureId() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a655f123daec9e4e50e322db9f3bbd6db"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a655f123daec9e4e50e322db9f3bbd6db">rtabmap::Memory::setDummyDictionary</a></div><div class="ttdeci">void setDummyDictionary(bool enabled)</div><div class="ttdoc">Enables a dummy visual word dictionary (no descriptors kept, word ids only).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a6d48ff5d4dfcf085123b5dd354fae681"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a6d48ff5d4dfcf085123b5dd354fae681">rtabmap::Memory::isIDsGenerated</a></div><div class="ttdeci">bool isIDsGenerated() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00629">Memory.h:629</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a6e63312ada575016b583a4252dc0a70c"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a6e63312ada575016b583a4252dc0a70c">rtabmap::Memory::cleanupLocalGrids</a></div><div class="ttdeci">int cleanupLocalGrids(const std::map< int, Transform > &poses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)</div><div class="ttdoc">Removes spurious obstacle points from each node's local grid using a reference 2D map.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a76fd8c93220c16fac5843ccc2c0bec3c"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a76fd8c93220c16fac5843ccc2c0bec3c">rtabmap::Memory::updateAge</a></div><div class="ttdeci">void updateAge(int signatureId)</div><div class="ttdoc">Refreshes the age of signatureId in working memory, marking it as recent.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a790e24b6cb0fb3ec2ed198121a6211c1"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a790e24b6cb0fb3ec2ed198121a6211c1">rtabmap::Memory::isGraphReduced</a></div><div class="ttdeci">bool isGraphReduced() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00635">Memory.h:635</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a7c7f80937a35204cb5b44faec8e99736"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a7c7f80937a35204cb5b44faec8e99736">rtabmap::Memory::updateLink</a></div><div class="ttdeci">void updateLink(const Link &link, bool updateInDatabase=false)</div><div class="ttdoc">Replaces an existing link with link (same endpoints and type).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a7d4e2a2281980bc1b18683fd8fc2ebeb"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a7d4e2a2281980bc1b18683fd8fc2ebeb">rtabmap::Memory::getLinks</a></div><div class="ttdeci">std::multimap< int, Link > getLinks(int signatureId, bool lookInDatabase=false, bool withLandmarks=false) const</div><div class="ttdoc">Returns all links of signatureId (neighbor, loop, prior, gravity, ...).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a7e16d27512d0daf17b9dbb17aab3b201"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a7e16d27512d0daf17b9dbb17aab3b201">rtabmap::Memory::saveOptimizedMesh</a></div><div class="ttdeci">void saveOptimizedMesh(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const</div><div class="ttdoc">Persists an optimized textured/colored mesh to the database.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a838b48bb9c2e6ccfe4f916ea2b2d00fd"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a838b48bb9c2e6ccfe4f916ea2b2d00fd">rtabmap::Memory::removeAllVirtualLinks</a></div><div class="ttdeci">void removeAllVirtualLinks()</div><div class="ttdoc">Removes every virtual link in WM.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a83d0b30afc46dd66ab3106c9997657c4"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a83d0b30afc46dd66ab3106c9997657c4">rtabmap::Memory::getDatabaseMemoryUsed</a></div><div class="ttdeci">int getDatabaseMemoryUsed() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a8720df55fa6f8be933827808d364f20a"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a8720df55fa6f8be933827808d364f20a">rtabmap::Memory::memoryChanged</a></div><div class="ttdeci">bool memoryChanged() const</div><div class="ttdoc">Reports whether the in-memory map has been modified since the database was last loaded or reset....</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00602">Memory.h:602</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a88fecb24bd16886d6086937277df5f20"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a88fecb24bd16886d6086937277df5f20">rtabmap::Memory::getLoopClosureLinks</a></div><div class="ttdeci">std::multimap< int, Link > getLoopClosureLinks(int signatureId, bool lookInDatabase=false) const</div><div class="ttdoc">Returns loop-closure links of signatureId; lookInDatabase also checks LTM.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a89dd9b0aea5595e929b23ded82cd8ff1"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a89dd9b0aea5595e929b23ded82cd8ff1">rtabmap::Memory::getGroundTruthPose</a></div><div class="ttdeci">Transform getGroundTruthPose(int signatureId, bool lookInDatabase=false) const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a93119d10342db4a55c77b180cb249453"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a93119d10342db4a55c77b180cb249453">rtabmap::Memory::saveLocationData</a></div><div class="ttdeci">void saveLocationData(int locationId)</div><div class="ttdoc">Forces locationId to be flushed to the database.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a984ca01a87434b11a66dc1d96e2fff17"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a984ca01a87434b11a66dc1d96e2fff17">rtabmap::Memory::computeLikelihood</a></div><div class="ttdeci">std::map< int, float > computeLikelihood(const Signature *signature, const std::list< int > &ids)</div><div class="ttdoc">Computes loop-closure likelihood of signature against a set of WM ids.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a9a71f27d0de4f7e6400ca470a82be19d"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a9a71f27d0de4f7e6400ca470a82be19d">rtabmap::Memory::load2DMap</a></div><div class="ttdeci">cv::Mat load2DMap(float &xMin, float &yMin, float &cellSize) const</div><div class="ttdoc">Loads the 2D occupancy grid previously written by save2DMap().</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a9e2972a53619456d75ad923fb5e9bc7e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a9e2972a53619456d75ad923fb5e9bc7e">rtabmap::Memory::loadOptimizedPoses</a></div><div class="ttdeci">std::map< int, Transform > loadOptimizedPoses(Transform *lastlocalizationPose) const</div><div class="ttdoc">Loads optimized poses previously written by saveOptimizedPoses().</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aa244b8581684b85e35d2056cf972e377"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aa244b8581684b85e35d2056cf972e377">rtabmap::Memory::reactivateSignatures</a></div><div class="ttdeci">std::set< int > reactivateSignatures(const std::list< int > &ids, unsigned int maxLoaded, double &timeDbAccess)</div><div class="ttdoc">Reloads signatures from LTM into WM.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aa77fb0f90185a274b3e9d0c609ce14ed"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aa77fb0f90185a274b3e9d0c609ce14ed">rtabmap::Memory::removeVirtualLinks</a></div><div class="ttdeci">void removeVirtualLinks(int signatureId)</div><div class="ttdoc">Removes virtual links attached to signatureId.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aae43fd080c6bc9773fa58f1c36e6684f"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aae43fd080c6bc9773fa58f1c36e6684f">rtabmap::Memory::update</a></div><div class="ttdeci">bool update(const SensorData &data, const Transform &pose, const cv::Mat &covariance, const std::vector< float > &velocity=std::vector< float >(), Statistics *stats=0)</div><div class="ttdoc">Adds a sensor observation with odometry pose and velocity to the map.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ab094dfa40b0fe37cb12552a6ba081d6b"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ab094dfa40b0fe37cb12552a6ba081d6b">rtabmap::Memory::getFeature2D</a></div><div class="ttdeci">const Feature2D * getFeature2D() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00633">Memory.h:633</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ab29b6d90e79694d7fdfb56574476141f"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ab29b6d90e79694d7fdfb56574476141f">rtabmap::Memory::isOdomGravityUsed</a></div><div class="ttdeci">bool isOdomGravityUsed() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00669">Memory.h:669</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ab2c3951385254cbb42fb399b407ded24"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ab2c3951385254cbb42fb399b407ded24">rtabmap::Memory::getDatabaseUrl</a></div><div class="ttdeci">std::string getDatabaseUrl() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ab5329c43c6b185613222d8458c049848"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ab5329c43c6b185613222d8458c049848">rtabmap::Memory::getMetricConstraints</a></div><div class="ttdeci">void getMetricConstraints(const std::set< int > &ids, std::map< int, Transform > &poses, std::multimap< int, Link > &links, bool lookInDatabase=false, bool landmarksAdded=false)</div><div class="ttdoc">Extracts a sub-graph (poses + links) for a set of node ids.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ab6c0794ad1aac6e9084c0240e709cdc6"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ab6c0794ad1aac6e9084c0240e709cdc6">rtabmap::Memory::getWorkingMem</a></div><div class="ttdeci">const std::map< int, double > & getWorkingMem() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00400">Memory.h:400</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ab7a2da56bb12845f0370a20a9497dfe0"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ab7a2da56bb12845f0370a20a9497dfe0">rtabmap::Memory::saveOptimizedPoses</a></div><div class="ttdeci">void saveOptimizedPoses(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const</div><div class="ttdoc">Persists an optimized pose graph and the last localization pose for next session.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_abba1fbec2be0cfced6e14d723fc45794"><div class="ttname"><a href="classrtabmap_1_1Memory.html#abba1fbec2be0cfced6e14d723fc45794">rtabmap::Memory::labelSignature</a></div><div class="ttdeci">bool labelSignature(int id, const std::string &label)</div><div class="ttdoc">Assigns or removes a label on id.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_abbf54d2a34838cc13ce98d41a9991918"><div class="ttname"><a href="classrtabmap_1_1Memory.html#abbf54d2a34838cc13ce98d41a9991918">rtabmap::Memory::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &parameters)</div><div class="ttdoc">Re-parses parameters and propagates them to owned sub-objects.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_abc4c40056783163ec5abde9366060cb2"><div class="ttname"><a href="classrtabmap_1_1Memory.html#abc4c40056783163ec5abde9366060cb2">rtabmap::Memory::getImageCompressed</a></div><div class="ttdeci">cv::Mat getImageCompressed(int signatureId) const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_abd0d7277526f06861df17e03fa13e817"><div class="ttname"><a href="classrtabmap_1_1Memory.html#abd0d7277526f06861df17e03fa13e817">rtabmap::Memory::loadPreviewImage</a></div><div class="ttdeci">cv::Mat loadPreviewImage() const</div><div class="ttdoc">Loads the preview image previously written by savePreviewImage().</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ac61afdb7694d54b5e3d146be427638b2"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ac61afdb7694d54b5e3d146be427638b2">rtabmap::Memory::getGroundTruths</a></div><div class="ttdeci">const std::map< int, Transform > & getGroundTruths() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00493">Memory.h:493</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ac78b3a9a3394eb63c50650a4b8ada68e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ac78b3a9a3394eb63c50650a4b8ada68e">rtabmap::Memory::kIdInvalid</a></div><div class="ttdeci">static const int kIdInvalid</div><div class="ttdoc">Sentinel value indicating an invalid signature id (zero).</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00109">Memory.h:109</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ac96fffe9fde99f7c74a06bbc5727be6b"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ac96fffe9fde99f7c74a06bbc5727be6b">rtabmap::Memory::save2DMap</a></div><div class="ttdeci">void save2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize) const</div><div class="ttdoc">Persists a 2D occupancy grid (origin xMin, yMin and resolution cellSize).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ac9e6bfaf161d4bd1a9f99d2352492a1d"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ac9e6bfaf161d4bd1a9f99d2352492a1d">rtabmap::Memory::reduceNode</a></div><div class="ttdeci">int reduceNode(int id, float maxDistance=0.0f, bool keepLinkedInDb=false, int direction=0)</div><div class="ttdoc">Merges id with a close neighbor (graph reduction).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aca3bdb688c64dd62672f2385ce6de594"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aca3bdb688c64dd62672f2385ce6de594">rtabmap::Memory::getGPS</a></div><div class="ttdeci">void getGPS(int id, GPS &gps, Transform &offsetENU, bool lookInDatabase, int maxGraphDepth=0) const</div><div class="ttdoc">Returns a GPS fix for id, falling back to the nearest GPS-tagged neighbor.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aca66c6d1316f9d833b279104a683ee50"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aca66c6d1316f9d833b279104a683ee50">rtabmap::Memory::computeIcpTransform</a></div><div class="ttdeci">Transform computeIcpTransform(const Signature &fromS, const Signature &toS, Transform guess, RegistrationInfo *info=0) const</div><div class="ttdoc">Refines a transform using ICP alignment of laser scans only.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_acab72b1076370287ac28a1d464d480f0"><div class="ttname"><a href="classrtabmap_1_1Memory.html#acab72b1076370287ac28a1d464d480f0">rtabmap::Memory::removeRawData</a></div><div class="ttdeci">void removeRawData(int id, bool image=true, bool scan=true, bool userData=true, bool occupancyGrid=true)</div><div class="ttdoc">Strips raw images, scan, user data and/or occupancy grid from id to save memory (RAM)....</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_acde7a0f34f8896c3c9f002c6cbcc614e"><div class="ttname"><a href="classrtabmap_1_1Memory.html#acde7a0f34f8896c3c9f002c6cbcc614e">rtabmap::Memory::getAllLinks</a></div><div class="ttdeci">std::multimap< int, Link > getAllLinks(bool lookInDatabase, bool ignoreNullLinks=true, bool withLandmarks=false) const</div><div class="ttdoc">Returns links of every signature; ignoreNullLinks drops empty placeholders.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_acf7e6cbe5eda50b024cbb1bc82d03b7c"><div class="ttname"><a href="classrtabmap_1_1Memory.html#acf7e6cbe5eda50b024cbb1bc82d03b7c">rtabmap::Memory::getLandmarksIndex</a></div><div class="ttdeci">const std::map< int, std::set< int > > & getLandmarksIndex() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00458">Memory.h:458</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ad14c4346a42a621b7834c60de6bc2e63"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ad14c4346a42a621b7834c60de6bc2e63">rtabmap::Memory::getLastWorkingSignature</a></div><div class="ttdeci">const Signature * getLastWorkingSignature(bool ignoreIntermediateNodes) const</div><div class="ttdoc">Returns the most recent WM signature.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ad59e8591cd04e2ecd93b4e706f198763"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ad59e8591cd04e2ecd93b4e706f198763">rtabmap::Memory::getMemoryUsed</a></div><div class="ttdeci">unsigned long getMemoryUsed() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ad6d7488b61f8bedf6c9e3f4019a6b7f4"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ad6d7488b61f8bedf6c9e3f4019a6b7f4">rtabmap::Memory::isReadOnly</a></div><div class="ttdeci">bool isReadOnly() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00614">Memory.h:614</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ad6e8870c75b300a7d526f49467f67913"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ad6e8870c75b300a7d526f49467f67913">rtabmap::Memory::getLastGlobalLoopClosureId</a></div><div class="ttdeci">int getLastGlobalLoopClosureId() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00631">Memory.h:631</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ad9b97cdfd95eb3c0dad649d755fc3267"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ad9b97cdfd95eb3c0dad649d755fc3267">rtabmap::Memory::getWorkingMemIntermediateNodesCount</a></div><div class="ttdeci">int getWorkingMemIntermediateNodesCount() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00407">Memory.h:407</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ae1e4c518ec65f86b7a3eade7ac2705c8"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ae1e4c518ec65f86b7a3eade7ac2705c8">rtabmap::Memory::getSimilarityThreshold</a></div><div class="ttdeci">float getSimilarityThreshold() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00434">Memory.h:434</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ae37d02a779acb85797de25da36066829"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ae37d02a779acb85797de25da36066829">rtabmap::Memory::getOdomMaxInf</a></div><div class="ttdeci">const std::vector< double > & getOdomMaxInf() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00653">Memory.h:653</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ae6184a6979703045f34d3e2a155eb9f3"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ae6184a6979703045f34d3e2a155eb9f3">rtabmap::Memory::getNodeInfo</a></div><div class="ttdeci">bool getNodeInfo(int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors, bool lookInDatabase=false) const</div><div class="ttdoc">Reads metadata of signatureId (no images/scan/words).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_ae66a7837edc6e844ee9186e61d139300"><div class="ttname"><a href="classrtabmap_1_1Memory.html#ae66a7837edc6e844ee9186e61d139300">rtabmap::Memory::convertToIntermediate</a></div><div class="ttdeci">void convertToIntermediate(int locationId)</div><div class="ttdoc">Marks locationId as intermediate (weight = -1); excludes it from loop closure.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aebd7dd4ef859d70435a5db8e4f398ea5"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aebd7dd4ef859d70435a5db8e4f398ea5">rtabmap::Memory::getDatabaseVersion</a></div><div class="ttdeci">std::string getDatabaseVersion() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aebef354bb315f522b4767337a6bd1ee6"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aebef354bb315f522b4767337a6bd1ee6">rtabmap::Memory::generateGraph</a></div><div class="ttdeci">void generateGraph(const std::string &fileName, const std::set< int > &ids=std::set< int >())</div><div class="ttdoc">Writes a Graphviz DOT file of the pose graph.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aeeabc78648bf7dc14ea1356828cdeddd"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aeeabc78648bf7dc14ea1356828cdeddd">rtabmap::Memory::init</a></div><div class="ttdeci">bool init(const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)</div><div class="ttdoc">Opens or creates a database and loads existing state into WM.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_af48dbd905dda453b6b2c2246a90d0e04"><div class="ttname"><a href="classrtabmap_1_1Memory.html#af48dbd905dda453b6b2c2246a90d0e04">rtabmap::Memory::getNodeCalibration</a></div><div class="ttdeci">void getNodeCalibration(int nodeId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const</div><div class="ttdoc">Loads mono and/or stereo camera calibration stored with nodeId.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_af4cc965870dd757517b126af4860d34d"><div class="ttname"><a href="classrtabmap_1_1Memory.html#af4cc965870dd757517b126af4860d34d">rtabmap::Memory::getParameters</a></div><div class="ttdeci">virtual const ParametersMap & getParameters() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00130">Memory.h:130</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_af87e4718dd842c59fd8459430c40d78f"><div class="ttname"><a href="classrtabmap_1_1Memory.html#af87e4718dd842c59fd8459430c40d78f">rtabmap::Memory::cleanup</a></div><div class="ttdeci">int cleanup()</div><div class="ttdoc">Drops the last signature if flagged as bad, or any signature in localization mode.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_afbcfc92dc9bbc344ab106d2f21d93aaf"><div class="ttname"><a href="classrtabmap_1_1Memory.html#afbcfc92dc9bbc344ab106d2f21d93aaf">rtabmap::Memory::saveStatistics</a></div><div class="ttdeci">void saveStatistics(const Statistics &statistics, bool saveWMState)</div><div class="ttdoc">Persists statistics to the database; saveWMState records the WM id list.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_afc3de4b861e23f90bf753794bcb40e68"><div class="ttname"><a href="classrtabmap_1_1Memory.html#afc3de4b861e23f90bf753794bcb40e68">rtabmap::Memory::dumpDictionary</a></div><div class="ttdeci">void dumpDictionary(const char *fileNameRef, const char *fileNameDesc) const</div><div class="ttdoc">Dumps the visual word dictionary: references to fileNameRef, descriptors to fileNameDesc.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_afce9dbf3e5657d65540e33c59e992d83"><div class="ttname"><a href="classrtabmap_1_1Memory.html#afce9dbf3e5657d65540e33c59e992d83">rtabmap::Memory::incrementMapId</a></div><div class="ttdeci">int incrementMapId(std::map< int, int > *reducedIds=0)</div><div class="ttdoc">Starts a new map id, breaking session continuity (e.g. after localization loss).</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_afe7a1c036129e7ec94905c3650e91cc8"><div class="ttname"><a href="classrtabmap_1_1Memory.html#afe7a1c036129e7ec94905c3650e91cc8">rtabmap::Memory::getNodesObservingLandmark</a></div><div class="ttdeci">std::map< int, Link > getNodesObservingLandmark(int landmarkId, bool lookInDatabase) const</div><div class="ttdoc">Returns all nodes observing landmark landmarkId, mapped to the observation link.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_aff18f08be0a7951f508276e341759f5c"><div class="ttname"><a href="classrtabmap_1_1Memory.html#aff18f08be0a7951f508276e341759f5c">rtabmap::Memory::setUserData</a></div><div class="ttdeci">bool setUserData(int id, const cv::Mat &data)</div><div class="ttdoc">Attaches user data to signature id, compressing it on the fly if needed.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Memory_html_affdd654e385b61306a2ac2ea91d13b85"><div class="ttname"><a href="classrtabmap_1_1Memory.html#affdd654e385b61306a2ac2ea91d13b85">rtabmap::Memory::savePreviewImage</a></div><div class="ttdeci">void savePreviewImage(const cv::Mat &image) const</div><div class="ttdoc">Stores a preview image (typically a thumbnail of the last frame) in the database.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html">rtabmap::RegistrationIcp</a></div><div class="ttdef"><b>Definition</b> <a href="RegistrationIcp_8h_source.html#l00039">RegistrationIcp.h:40</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><div class="ttdoc">Statistics and diagnostics returned by Registration.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></div><div class="ttdoc">Visual registration between two signatures using features and geometry.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00060">RegistrationVis.h:61</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Statistics_html"><div class="ttname"><a href="classrtabmap_1_1Statistics.html">rtabmap::Statistics</a></div><div class="ttdoc">Collects and manages runtime statistics for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00107">Statistics.h:108</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></div><div class="ttdoc">Manages a dictionary of visual words for visual place recognition and loop closure detection.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00065">VWDictionary.h:66</a></div></div>
|
|
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
|
|
<div class="ttc" id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map< EnvSensor::Type, EnvSensor > EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
|
|
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
|
|
</div><!-- fragment --></div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<ul>
|
|
<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><b>Memory.h</b></li>
|
|
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|