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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<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>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#pragma once</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <opencv2/highgui/highgui.hpp></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#if CV_MAJOR_VERSION < 5</span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <opencv2/features2d/features2d.hpp></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#else</span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <opencv2/features.hpp></span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <list></span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <set></span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "rtabmap/core/Parameters.h"</span></div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span>{</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword">class </span>DBDriver;</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">class </span>VisualWord;</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">class </span>FlannIndex;</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="foldopen" id="foldopen00065" data-start="{" data-end="};">
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html"> 65</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a></div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>{</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00072" data-start="{" data-end="};">
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655"> 72</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a>{</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0"> 73</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">kNNFlannNaive</a>, </div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5"> 74</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">kNNFlannKdTree</a>, </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992"> 75</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">kNNFlannLSH</a>, </div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d"> 76</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">kNNBruteForce</a>, </div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"> 77</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">kNNBruteForceGPU</a>, </div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> kNNUndef </div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655afeba67ed0aafc39aa35b2a194e147ff9"> 79</a></span> };</div>
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</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37"> 84</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_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37">ID_START</a>;</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f"> 89</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_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f">ID_INVALID</a>;</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
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<div class="foldopen" id="foldopen00096" data-start="{" data-end="}">
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc"> 96</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">nnStrategyName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> strategy)</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> {</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordflow">switch</span>(strategy) {</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordflow">case</span> kNNFlannNaive:</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN NAIVE"</span>;</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordflow">case</span> kNNFlannKdTree:</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN KD-TREE"</span>;</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordflow">case</span> kNNFlannLSH:</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordflow">return</span> <span class="stringliteral">"FLANN LSH"</span>;</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordflow">case</span> kNNBruteForce:</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordflow">return</span> <span class="stringliteral">"BRUTE FORCE"</span>;</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordflow">case</span> kNNBruteForceGPU:</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordflow">return</span> <span class="stringliteral">"BRUTE FORCE GPU"</span>;</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordflow">default</span>:</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">return</span> <span class="stringliteral">"Unknown"</span>;</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> }</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> }</div>
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</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734"> 119</a></span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">VWDictionary</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>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d"> 126</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d">~VWDictionary</a>();</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81"> 132</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters);</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5"> 140</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5">update</a>();</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> </div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841"> 156</a></span> <span class="keyword">virtual</span> std::list<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">addNewWords</a>(</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> cv::Mat & descriptors,</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> signatureId);</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59"> 166</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59">addWord</a>(<a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * vw);</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c"> 177</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c">findNN</a>(<span class="keyword">const</span> std::list<VisualWord *> & vws) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> </div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295"> 188</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295">findNN</a>(<span class="keyword">const</span> cv::Mat & descriptors) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> </div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec"> 199</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec">addWordRef</a>(<span class="keywordtype">int</span> wordId, <span class="keywordtype">int</span> signatureId);</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b"> 209</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">removeAllWordRef</a>(<span class="keywordtype">int</span> wordId, <span class="keywordtype">int</span> signatureId);</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
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|
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1"> 216</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1">getWord</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> </div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3"> 226</a></span> <a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3">getUnusedWord</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> </div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97"> 232</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97">setLastWordId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_lastWordId = id;}</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4"> 238</a></span> <span class="keyword">const</span> std::map<int, VisualWord *> & <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4">getVisualWords</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _visualWords;}</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
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<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5"> 251</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">getNndrRatio</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nndrRatio;}</div>
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<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8"> 257</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">getNotIndexedWordsCount</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (<span class="keywordtype">int</span>)_notIndexedWords.size();}</div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> </div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da"> 263</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da">getLastIndexedWordId</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
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<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d"> 269</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d">getTotalActiveReferences</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _totalActiveReferences;}</div>
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<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> </div>
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<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c"> 275</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c">getIndexedWordsCount</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> </div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576"> 281</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576">getIndexMemoryUsed</a>() <span class="keyword">const</span>; <span class="comment">// KB</span></div>
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<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
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<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307"> 287</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307">getMemoryUsed</a>() <span class="keyword">const</span>; <span class="comment">//Bytes</span></div>
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<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
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<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc"> 296</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc">setNNStrategy</a>(<a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> strategy);</div>
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<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> </div>
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<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb"> 302</a></span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">getNNStrategy</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _strategy;}</div>
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<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> </div>
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<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369"> 308</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369">isIncremental</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _incrementalDictionary;}</div>
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<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> </div>
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<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998"> 314</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998">isIncrementalFlann</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _incrementalFlann;}</div>
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<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> </div>
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<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff"> 322</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff">setIncrementalDictionary</a>();</div>
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<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> </div>
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<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a"> 332</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a">setFixedDictionary</a>(<span class="keyword">const</span> std::string & dictionaryPath);</div>
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<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> </div>
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<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13"> 338</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13">isModified</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> </div>
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<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41"> 344</a></span> std::vector<unsigned char> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">serializeIndex</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> </div>
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<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad"> 351</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad">deserializeIndex</a>(<span class="keyword">const</span> std::vector<unsigned char> & data);</div>
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<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> </div>
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<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526"> 359</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526">deserializeIndex</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data, <span class="keywordtype">size_t</span> size);</div>
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<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> </div>
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<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8"> 368</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8">exportDictionary</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameReferences, <span class="keyword">const</span> <span class="keywordtype">char</span> * fileNameDescriptors) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
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<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351"> 376</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351">clear</a>(<span class="keywordtype">bool</span> printWarningsIfNotEmpty = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> </div>
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<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388"> 387</a></span> std::vector<VisualWord *> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">getUnusedWords</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> </div>
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<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d"> 393</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">getUnusedWordIds</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> </div>
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<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412"> 399</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412">getUnusedWordsSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (<span class="keywordtype">int</span>)_unusedWords.size();}</div>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
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<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4"> 407</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">removeWords</a>(<span class="keyword">const</span> std::vector<VisualWord*> & words); <span class="comment">// caller must delete the words</span></div>
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<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
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<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa"> 414</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa">deleteUnusedWords</a>();</div>
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<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> </div>
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<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e"> 428</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e">convertBinTo32F</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> </div>
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<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c"> 442</a></span> <span class="keyword">static</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c">convert32FToBin</a>(<span class="keyword">const</span> cv::Mat & descriptorsIn, <span class="keywordtype">bool</span> byteToFloat = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
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<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69"> 449</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69">getNextId</a>();</div>
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<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
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<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383"> 456</a></span> std::map<int, VisualWord *> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">_visualWords</a>; <span class="comment">//<id,VisualWord*></span></div>
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<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
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<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44"> 462</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">_totalActiveReferences</a>;</div>
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<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
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<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordtype">bool</span> _incrementalDictionary;</div>
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<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> </div>
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<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <span class="keywordtype">bool</span> _incrementalFlann;</div>
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<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> </div>
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<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keywordtype">float</span> _rebalancingFactor;</div>
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<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> </div>
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<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">bool</span> _byteToFloat;</div>
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<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> </div>
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<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">float</span> _nndrRatio;</div>
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<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> </div>
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<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> std::string _dictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</span></div>
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<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> </div>
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<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> std::string _newDictionaryPath; <span class="comment">// a pre-computed dictionary (.txt or .db)</span></div>
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<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> </div>
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<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> <span class="keywordtype">bool</span> _newWordsComparedTogether;</div>
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<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> </div>
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<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keywordtype">bool</span> _serializeWithChecksum;</div>
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<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> </div>
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<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> <span class="keywordtype">int</span> _lastWordId;</div>
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<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> </div>
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<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keywordtype">bool</span> useDistanceL1_;</div>
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<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> </div>
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<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a> * _flannIndex;</div>
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<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> </div>
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<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> cv::Mat _dataTree;</div>
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<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> </div>
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<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <span class="keywordtype">bool</span> _modified;</div>
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<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> </div>
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<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <a class="code hl_enumeration" href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">NNStrategy</a> _strategy;</div>
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<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> </div>
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<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> std::map<int ,int> _mapIndexId;</div>
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<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> </div>
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<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> std::map<int ,int> _mapIdIndex;</div>
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<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
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<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> std::map<int, VisualWord*> _unusedWords; <span class="comment">//<id,VisualWord*></span></div>
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<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> std::set<int> _notIndexedWords;</div>
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<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> </div>
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<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> std::set<int> _removedIndexedWords;</div>
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<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span>};</div>
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</div>
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<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> </div>
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<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00037">FlannIndex.h:38</a></div></div>
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<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>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a085d69ef577600000f397bd63abeaf69"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69">rtabmap::VWDictionary::getNextId</a></div><div class="ttdeci">int getNextId()</div><div class="ttdoc">Get the next available visual word ID.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a0a29d849a7c2b626407f453e5cb4b526"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526">rtabmap::VWDictionary::deserializeIndex</a></div><div class="ttdeci">bool deserializeIndex(const unsigned char *data, size_t size)</div><div class="ttdoc">Deserialize the search index from raw bytes.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a117282f59ed918808d8116cd1f92f412"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412">rtabmap::VWDictionary::getUnusedWordsSize</a></div><div class="ttdeci">unsigned int getUnusedWordsSize() const</div><div class="ttdoc">Get the count of unused visual words.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00399">VWDictionary.h:399</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a1ba7cb31f8658980849ffd9ce76b3cb8"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8">rtabmap::VWDictionary::exportDictionary</a></div><div class="ttdeci">void exportDictionary(const char *fileNameReferences, const char *fileNameDescriptors) const</div><div class="ttdoc">Export the dictionary to files.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a2864c406b3792dbfb7c8c334b6e44d41"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">rtabmap::VWDictionary::serializeIndex</a></div><div class="ttdeci">std::vector< unsigned char > serializeIndex() const</div><div class="ttdoc">Serialize the search index to a byte vector.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a293c09f00caf84bb991d73983a5f22c8"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">rtabmap::VWDictionary::getNotIndexedWordsCount</a></div><div class="ttdeci">unsigned int getNotIndexedWordsCount() const</div><div class="ttdoc">Get the count of words not yet indexed in the search tree.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00257">VWDictionary.h:257</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a2998a6b11e102a2253ac592acf076841"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">rtabmap::VWDictionary::addNewWords</a></div><div class="ttdeci">virtual std::list< int > addNewWords(const cv::Mat &descriptors, int signatureId)</div><div class="ttdoc">Add new visual words from descriptors.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a2dbfec55a8921f52b642bf0dceea0c37"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37">rtabmap::VWDictionary::ID_START</a></div><div class="ttdeci">static const int ID_START</div><div class="ttdoc">Starting ID for visual words (typically 1)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00084">VWDictionary.h:84</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a33c8904edf3d0af65dfd2a6d817416fa"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa">rtabmap::VWDictionary::deleteUnusedWords</a></div><div class="ttdeci">void deleteUnusedWords()</div><div class="ttdoc">Delete all unused visual words.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a3af1cce90b50dcb0f9dcd77e1fb08aad"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad">rtabmap::VWDictionary::deserializeIndex</a></div><div class="ttdeci">bool deserializeIndex(const std::vector< unsigned char > &data)</div><div class="ttdoc">Deserialize the search index from a byte vector.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a454639bff3d95b2f9dd346413981d5c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">rtabmap::VWDictionary::getNndrRatio</a></div><div class="ttdeci">float getNndrRatio() const</div><div class="ttdoc">Get the Nearest Neighbor Distance Ratio (NNDR) threshold.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00251">VWDictionary.h:251</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5222c6a21307f0e4b9346c87db166b44"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">rtabmap::VWDictionary::_totalActiveReferences</a></div><div class="ttdeci">int _totalActiveReferences</div><div class="ttdoc">Total count of active word-to-signature references.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00462">VWDictionary.h:462</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a566aaf19cdc098587e88393e4140b351"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351">rtabmap::VWDictionary::clear</a></div><div class="ttdeci">void clear(bool printWarningsIfNotEmpty=true)</div><div class="ttdoc">Clear all visual words and reset the dictionary.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5cf9981cf11f8f93280b7d0c195159e1"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1">rtabmap::VWDictionary::getWord</a></div><div class="ttdeci">const VisualWord * getWord(int id) const</div><div class="ttdoc">Get a visual word by ID.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a5f3712744b9f7beb5da186a842f7d74a"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a">rtabmap::VWDictionary::setFixedDictionary</a></div><div class="ttdeci">void setFixedDictionary(const std::string &dictionaryPath)</div><div class="ttdoc">Set the dictionary to fixed mode and load from file.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a63ec6a9b915eb939c2650e623feb0576"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576">rtabmap::VWDictionary::getIndexMemoryUsed</a></div><div class="ttdeci">unsigned int getIndexMemoryUsed() const</div><div class="ttdoc">Get the memory used by the search index.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a64b0aee7f33cbd4df26e2d0c14329e9d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">rtabmap::VWDictionary::getUnusedWordIds</a></div><div class="ttdeci">std::vector< int > getUnusedWordIds() const</div><div class="ttdoc">Get IDs of all unused visual words.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a65a99ae457b1c779233de57d190ca8da"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da">rtabmap::VWDictionary::getLastIndexedWordId</a></div><div class="ttdeci">int getLastIndexedWordId() const</div><div class="ttdoc">Get the ID of the last indexed word.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a6a0610e87964c3881dc70cae6cd9123c"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c">rtabmap::VWDictionary::getIndexedWordsCount</a></div><div class="ttdeci">unsigned int getIndexedWordsCount() const</div><div class="ttdoc">Get the count of words currently indexed in the search tree.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a6bcad4c04999469001b5ac03b8a61ab4"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4">rtabmap::VWDictionary::getVisualWords</a></div><div class="ttdeci">const std::map< int, VisualWord * > & getVisualWords() const</div><div class="ttdoc">Get all visual words.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00238">VWDictionary.h:238</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a706e209f6228c02730dd8ea501ab5369"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369">rtabmap::VWDictionary::isIncremental</a></div><div class="ttdeci">bool isIncremental() const</div><div class="ttdoc">Check if the dictionary is in incremental mode.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00308">VWDictionary.h:308</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a7092a6a6af93772ce89793c5e54a17cc"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">rtabmap::VWDictionary::nnStrategyName</a></div><div class="ttdeci">static std::string nnStrategyName(NNStrategy strategy)</div><div class="ttdoc">Get the name of a nearest neighbor strategy.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00096">VWDictionary.h:96</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a70aec2b9d1bf55d47192949aa728448e"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a70aec2b9d1bf55d47192949aa728448e">rtabmap::VWDictionary::convertBinTo32F</a></div><div class="ttdeci">static cv::Mat convertBinTo32F(const cv::Mat &descriptorsIn, bool byteToFloat=true)</div><div class="ttdoc">Convert binary descriptors to 32-bit float format.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a7a506e15bf83d16cc98aaa34057216f4"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">rtabmap::VWDictionary::removeWords</a></div><div class="ttdeci">void removeWords(const std::vector< VisualWord * > &words)</div><div class="ttdoc">Remove words from the dictionary.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a83b1966a141848baeec5112c30bacf0f"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f">rtabmap::VWDictionary::ID_INVALID</a></div><div class="ttdeci">static const int ID_INVALID</div><div class="ttdoc">Invalid visual word ID (typically 0)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00089">VWDictionary.h:89</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a844ae27eb6d1f0674c8f7777451812c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5">rtabmap::VWDictionary::update</a></div><div class="ttdeci">virtual void update()</div><div class="ttdoc">Update the search index with newly added words.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a89893faef6c96e3b19bfeab86094af81"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81">rtabmap::VWDictionary::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &parameters)</div><div class="ttdoc">Parse and apply parameters from a parameters map.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">rtabmap::VWDictionary::NNStrategy</a></div><div class="ttdeci">NNStrategy</div><div class="ttdoc">Nearest neighbor search strategies for descriptor matching.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00072">VWDictionary.h:72</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">rtabmap::VWDictionary::kNNBruteForce</a></div><div class="ttdeci">@ kNNBruteForce</div><div class="ttdoc">Brute force CPU search.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00076">VWDictionary.h:76</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">rtabmap::VWDictionary::kNNBruteForceGPU</a></div><div class="ttdeci">@ kNNBruteForceGPU</div><div class="ttdoc">Brute force GPU-accelerated search (requires CUDA)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00077">VWDictionary.h:77</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">rtabmap::VWDictionary::kNNFlannLSH</a></div><div class="ttdeci">@ kNNFlannLSH</div><div class="ttdoc">FLANN Locality-Sensitive Hashing (ideal for binary descriptors)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00075">VWDictionary.h:75</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">rtabmap::VWDictionary::kNNFlannKdTree</a></div><div class="ttdeci">@ kNNFlannKdTree</div><div class="ttdoc">FLANN kd-tree index (fast for high-dimensional descriptors)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00074">VWDictionary.h:74</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655ae4301e202dd36e997bf3298390c667f0">rtabmap::VWDictionary::kNNFlannNaive</a></div><div class="ttdeci">@ kNNFlannNaive</div><div class="ttdoc">FLANN naive search (exhaustive)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00073">VWDictionary.h:73</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a98447a880fdcf91709f00d00cfd4e54d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d">rtabmap::VWDictionary::getTotalActiveReferences</a></div><div class="ttdeci">int getTotalActiveReferences() const</div><div class="ttdoc">Get the total number of active word-to-signature references.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00269">VWDictionary.h:269</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_a9f016aa45f3b3d5618d104fb799ca998"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998">rtabmap::VWDictionary::isIncrementalFlann</a></div><div class="ttdeci">bool isIncrementalFlann() const</div><div class="ttdoc">Check if FLANN index is updated incrementally.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00314">VWDictionary.h:314</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_aa0bcdf4002305d36bb072c019d475f13"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13">rtabmap::VWDictionary::isModified</a></div><div class="ttdeci">bool isModified() const</div><div class="ttdoc">Check if the dictionary has been modified since last save.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_aada11cf01b586ac8205f8bff0b1ab295"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295">rtabmap::VWDictionary::findNN</a></div><div class="ttdeci">std::vector< int > findNN(const cv::Mat &descriptors) const</div><div class="ttdoc">Find nearest neighbor visual word IDs for descriptors.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ab14ef6e8fb979dce23f9a40a1faf8dff"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff">rtabmap::VWDictionary::setIncrementalDictionary</a></div><div class="ttdeci">void setIncrementalDictionary()</div><div class="ttdoc">Set the dictionary to incremental mode.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ab1ec0db96328164864953f25d463bcbb"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">rtabmap::VWDictionary::getNNStrategy</a></div><div class="ttdeci">NNStrategy getNNStrategy() const</div><div class="ttdoc">Get the current nearest neighbor search strategy.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00302">VWDictionary.h:302</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ab47b5ecb12c822474004f0ad77dbb388"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">rtabmap::VWDictionary::getUnusedWords</a></div><div class="ttdeci">std::vector< VisualWord * > getUnusedWords() const</div><div class="ttdoc">Get all unused visual words.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_abbd007a028847ecbbdd50e3480ba95e3"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3">rtabmap::VWDictionary::getUnusedWord</a></div><div class="ttdeci">VisualWord * getUnusedWord(int id) const</div><div class="ttdoc">Get an unused visual word by ID.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ac2f21a98b70e91ab2e8a07151c508d1c"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c">rtabmap::VWDictionary::findNN</a></div><div class="ttdeci">std::vector< int > findNN(const std::list< VisualWord * > &vws) const</div><div class="ttdoc">Find nearest neighbor visual word IDs for a list of visual words.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ac4a70358ca2db8e63c67a30383a1d34b"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">rtabmap::VWDictionary::removeAllWordRef</a></div><div class="ttdeci">void removeAllWordRef(int wordId, int signatureId)</div><div class="ttdoc">Remove all references from a visual word to a signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ac5177a75f402538b50ec6c36bdbc7307"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307">rtabmap::VWDictionary::getMemoryUsed</a></div><div class="ttdeci">unsigned long getMemoryUsed() const</div><div class="ttdoc">Get the total memory used by the dictionary.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_acda9d98e4ad4897ce8a8b945f396221c"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#acda9d98e4ad4897ce8a8b945f396221c">rtabmap::VWDictionary::convert32FToBin</a></div><div class="ttdeci">static cv::Mat convert32FToBin(const cv::Mat &descriptorsIn, bool byteToFloat=true)</div><div class="ttdoc">Convert 32-bit float descriptors to binary format.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ad464ad961b0e4d4cd6dd7895e9ff3d59"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59">rtabmap::VWDictionary::addWord</a></div><div class="ttdeci">virtual void addWord(VisualWord *vw)</div><div class="ttdoc">Add an existing visual word to the dictionary.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_ada3980b520d8411a1ebb3ce14e2f8734"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#ada3980b520d8411a1ebb3ce14e2f8734">rtabmap::VWDictionary::VWDictionary</a></div><div class="ttdeci">VWDictionary(const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_adcb4739e09e27b20125880e9d3026383"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">rtabmap::VWDictionary::_visualWords</a></div><div class="ttdeci">std::map< int, VisualWord * > _visualWords</div><div class="ttdoc">Map of visual word ID to VisualWord pointer.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00456">VWDictionary.h:456</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_aea2f0d043d043df37258dc225c62edec"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec">rtabmap::VWDictionary::addWordRef</a></div><div class="ttdeci">bool addWordRef(int wordId, int signatureId)</div><div class="ttdoc">Add a reference from a visual word to a signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_af0b676e13c7dba437147520335289e97"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97">rtabmap::VWDictionary::setLastWordId</a></div><div class="ttdeci">void setLastWordId(int id)</div><div class="ttdoc">Set the last word ID (used when loading from database)</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00232">VWDictionary.h:232</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_af60e271facb40ff668c4bc24cff1b9cc"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc">rtabmap::VWDictionary::setNNStrategy</a></div><div class="ttdeci">bool setNNStrategy(NNStrategy strategy)</div><div class="ttdoc">Set the nearest neighbor search strategy.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html_af7f669f103368e30e31a028efbcac89d"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html#af7f669f103368e30e31a028efbcac89d">rtabmap::VWDictionary::~VWDictionary</a></div><div class="ttdeci">virtual ~VWDictionary()</div><div class="ttdoc">Destructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1VisualWord_html"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html">rtabmap::VisualWord</a></div><div class="ttdoc">Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00049">VisualWord.h:50</a></div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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<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>
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