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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.13</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>
<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 &quot;AS IS&quot; 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 STATISTICS_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define STATISTICS_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 &quot;rtabmap/core/rtabmap_core_export.h&quot;</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 &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#if CV_MAJOR_VERSION &lt; 5</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;opencv2/features2d/features2d.hpp&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;opencv2/features.hpp&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &lt;opencv2/imgproc/imgproc.hpp&gt;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include &lt;rtabmap/core/Signature.h&gt;</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include &lt;rtabmap/core/Link.h&gt;</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include &lt;<a class="code" href="UStl_8h.html">rtabmap/utilite/UStl.h</a>&gt;</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="preprocessor">#define RTABMAP_STATS(PREFIX, NAME, UNIT) \</span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span><span class="preprocessor"> public: \</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span><span class="preprocessor"> static std::string k##PREFIX##NAME() {return #PREFIX &quot;/&quot; #NAME &quot;/&quot; #UNIT;} \</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span><span class="preprocessor"> private: \</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="preprocessor"> class Dummy##PREFIX##NAME { \</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span><span class="preprocessor"> public: \</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span><span class="preprocessor"> Dummy##PREFIX##NAME() {if(!_defaultDataInitialized)_defaultData.insert(std::pair&lt;std::string, float&gt;(#PREFIX &quot;/&quot; #NAME &quot;/&quot; #UNIT, 0.0f));} \</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span><span class="preprocessor"> }; \</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span><span class="preprocessor"> Dummy##PREFIX##NAME dummy##PREFIX##NAME</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="foldopen" id="foldopen00107" data-start="{" data-end="};">
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html"> 107</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a></div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span>{</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> RTABMAP_STATS(Loop, Id,); <span class="comment">// Combined loop or proximity detection</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> RTABMAP_STATS(Loop, RejectedHypothesis,);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> RTABMAP_STATS(Loop, Accepted_hypothesis_id,);</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> RTABMAP_STATS(Loop, Suppressed_hypothesis_id,);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> RTABMAP_STATS(Loop, Highest_hypothesis_id,);</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> RTABMAP_STATS(Loop, Highest_hypothesis_value,);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> RTABMAP_STATS(Loop, Vp_hypothesis,);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> RTABMAP_STATS(Loop, Reactivate_id,);</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> RTABMAP_STATS(Loop, Hypothesis_ratio,);</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> RTABMAP_STATS(Loop, Hypothesis_reactivated,);</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> RTABMAP_STATS(Loop, Map_id,);</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> RTABMAP_STATS(Loop, Visual_words,);</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> RTABMAP_STATS(Loop, Visual_inliers,);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> RTABMAP_STATS(Loop, Visual_inliers_ratio,);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> RTABMAP_STATS(Loop, Visual_matches,);</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> RTABMAP_STATS(Loop, Visual_variance,);</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> RTABMAP_STATS(Loop, Distance_since_last_loc, m);</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> RTABMAP_STATS(Loop, Last_id,);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> RTABMAP_STATS(Loop, Optimization_max_error, m);</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> RTABMAP_STATS(Loop, Optimization_max_error_ratio, );</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> RTABMAP_STATS(Loop, Optimization_max_ang_error, deg);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> RTABMAP_STATS(Loop, Optimization_max_ang_error_ratio, );</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> RTABMAP_STATS(Loop, Optimization_error, );</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> RTABMAP_STATS(Loop, Optimization_iterations, );</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> RTABMAP_STATS(Loop, Optimization_max_error_from_id, );</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> RTABMAP_STATS(Loop, Optimization_max_error_to_id, );</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> RTABMAP_STATS(Loop, Optimization_max_ang_error_from_id, );</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> RTABMAP_STATS(Loop, Optimization_max_ang_error_to_id, );</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> RTABMAP_STATS(Loop, Optimization_max_error_removed_from_id, );</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> RTABMAP_STATS(Loop, Optimization_max_error_removed_to_id, );</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> RTABMAP_STATS(Loop, Optimization_max_error_removed_count, );</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> RTABMAP_STATS(Loop, Linear_variance,);</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> RTABMAP_STATS(Loop, Angular_variance,);</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> RTABMAP_STATS(Loop, Landmark_detected,);</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> RTABMAP_STATS(Loop, Landmark_detected_node_ref,);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> RTABMAP_STATS(Loop, Visual_inliers_distribution,);</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> RTABMAP_STATS(Loop, Proximity_links_cleared,);</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="comment">//Odom correction</span></div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> RTABMAP_STATS(Loop, Odom_correction_norm, m);</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> RTABMAP_STATS(Loop, Odom_correction_angle, deg);</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> RTABMAP_STATS(Loop, Odom_correction_x, m);</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> RTABMAP_STATS(Loop, Odom_correction_y, m);</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> RTABMAP_STATS(Loop, Odom_correction_z, m);</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> RTABMAP_STATS(Loop, Odom_correction_roll, deg);</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> RTABMAP_STATS(Loop, Odom_correction_pitch, deg);</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> RTABMAP_STATS(Loop, Odom_correction_yaw, deg);</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="comment">// Map to Odom</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> RTABMAP_STATS(Loop, MapToOdom_norm, m);</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> RTABMAP_STATS(Loop, MapToOdom_angle, deg);</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> RTABMAP_STATS(Loop, MapToOdom_x, m);</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> RTABMAP_STATS(Loop, MapToOdom_y, m);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> RTABMAP_STATS(Loop, MapToOdom_z, m);</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> RTABMAP_STATS(Loop, MapToOdom_roll, deg);</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> RTABMAP_STATS(Loop, MapToOdom_pitch, deg);</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> RTABMAP_STATS(Loop, MapToOdom_yaw, deg);</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="comment">// Map to Base</span></div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> RTABMAP_STATS(Loop, MapToBase_x, m);</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> RTABMAP_STATS(Loop, MapToBase_y, m);</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> RTABMAP_STATS(Loop, MapToBase_z, m);</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> RTABMAP_STATS(Loop, MapToBase_roll, deg);</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> RTABMAP_STATS(Loop, MapToBase_pitch, deg);</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> RTABMAP_STATS(Loop, MapToBase_yaw, deg);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> RTABMAP_STATS(Loop, MapToBase_lin_std, m);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> RTABMAP_STATS(Loop, MapToBase_lin_var, m2);</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> RTABMAP_STATS(Proximity, Time_detections,);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> RTABMAP_STATS(Proximity, Space_last_detection_id,);</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> RTABMAP_STATS(Proximity, Space_paths,);</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> RTABMAP_STATS(Proximity, Space_visual_paths_checked,);</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> RTABMAP_STATS(Proximity, Space_scan_paths_checked,);</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> RTABMAP_STATS(Proximity, Space_detections_added_visually,);</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> RTABMAP_STATS(Proximity, Space_detections_added_icp_multi,);</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> RTABMAP_STATS(Proximity, Space_detections_added_icp_global,);</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> RTABMAP_STATS(NeighborLinkRefining, Accepted,);</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> RTABMAP_STATS(NeighborLinkRefining, Inliers,);</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> RTABMAP_STATS(NeighborLinkRefining, ICP_inliers_ratio,);</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> RTABMAP_STATS(NeighborLinkRefining, ICP_rotation, rad);</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> RTABMAP_STATS(NeighborLinkRefining, ICP_translation, m);</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> RTABMAP_STATS(NeighborLinkRefining, ICP_complexity,);</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> RTABMAP_STATS(NeighborLinkRefining, Variance,);</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> RTABMAP_STATS(NeighborLinkRefining, Pts,);</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Working_memory_size,);</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Working_memory_inter_size,);</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Short_time_memory_size,);</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Short_time_memory_inter_size,);</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Database_memory_used, MB);</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Signatures_removed,);</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Immunized_globally,);</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Immunized_locally,);</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Immunized_locally_max,);</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Signatures_retrieved,);</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Images_buffered,);</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Rehearsal_sim,);</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Rehearsal_id,);</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Rehearsal_merged,);</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Local_graph_size,);</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Odom_cache_poses,);</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Odom_cache_links,);</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Small_movement,);</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Fast_movement,);</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, New_landmark,);</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Odometry_variance_ang,);</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Odometry_variance_lin,);</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Distance_travelled, m);</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, RAM_usage, MB);</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, RAM_estimated, MB);</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Triangulated_points, );</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Closest_node_distance, m);</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> RTABMAP_STATS(<a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a>, Closest_node_angle, rad);</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> RTABMAP_STATS(Timing, Memory_update, ms);</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> RTABMAP_STATS(Timing, Neighbor_link_refining, ms);</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> RTABMAP_STATS(Timing, Proximity_by_time, ms);</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> RTABMAP_STATS(Timing, Proximity_by_space_search, ms);</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> RTABMAP_STATS(Timing, Proximity_by_space_visual, ms);</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> RTABMAP_STATS(Timing, Proximity_by_space, ms);</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> RTABMAP_STATS(Timing, Cleaning_neighbors, ms);</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> RTABMAP_STATS(Timing, Reactivation, ms);</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> RTABMAP_STATS(Timing, Add_loop_closure_link, ms);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> RTABMAP_STATS(Timing, Map_optimization, ms);</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> RTABMAP_STATS(Timing, Likelihood_computation, ms);</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> RTABMAP_STATS(Timing, Posterior_computation, ms);</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> RTABMAP_STATS(Timing, Hypotheses_creation, ms);</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> RTABMAP_STATS(Timing, Hypotheses_validation, ms);</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> RTABMAP_STATS(Timing, Statistics_creation, ms);</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> RTABMAP_STATS(Timing, Memory_cleanup, ms);</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> RTABMAP_STATS(Timing, Total, ms);</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> RTABMAP_STATS(Timing, Forgetting, ms);</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> RTABMAP_STATS(Timing, Joining_trash, ms);</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> RTABMAP_STATS(Timing, Emptying_trash, ms);</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> RTABMAP_STATS(Timing, Finalizing_statistics, ms);</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> RTABMAP_STATS(Timing, RAM_estimation, ms);</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> </div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> RTABMAP_STATS(TimingMem, Pre_update, ms);</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> RTABMAP_STATS(TimingMem, Signature_creation, ms);</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> RTABMAP_STATS(TimingMem, Rehearsal, ms);</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> RTABMAP_STATS(TimingMem, Keypoints_detection, ms);</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> RTABMAP_STATS(TimingMem, Subpixel, ms);</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> RTABMAP_STATS(TimingMem, Stereo_correspondences, ms);</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> RTABMAP_STATS(TimingMem, Descriptors_extraction, ms);</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> RTABMAP_STATS(TimingMem, Rectification, ms);</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> RTABMAP_STATS(TimingMem, Keypoints_3D, ms);</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> RTABMAP_STATS(TimingMem, Keypoints_3D_motion, ms);</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> RTABMAP_STATS(TimingMem, Joining_dictionary_update, ms);</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> RTABMAP_STATS(TimingMem, Add_new_words, ms);</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> RTABMAP_STATS(TimingMem, Compressing_data, ms);</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> RTABMAP_STATS(TimingMem, Post_decimation, ms);</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> RTABMAP_STATS(TimingMem, Scan_filtering, ms);</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> RTABMAP_STATS(TimingMem, Occupancy_grid, ms);</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> RTABMAP_STATS(TimingMem, Markers_detection, ms);</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> </div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> RTABMAP_STATS(Keypoint, Dictionary_size, words);</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> RTABMAP_STATS(Keypoint, Current_frame, words);</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> RTABMAP_STATS(Keypoint, Indexed_words, words);</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> RTABMAP_STATS(Keypoint, Index_memory_usage, KB);</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> </div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> RTABMAP_STATS(Gt, Translational_rmse, m);</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> RTABMAP_STATS(Gt, Translational_mean, m);</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> RTABMAP_STATS(Gt, Translational_median, m);</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> RTABMAP_STATS(Gt, Translational_std, m);</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> RTABMAP_STATS(Gt, Translational_min, m);</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> RTABMAP_STATS(Gt, Translational_max, m);</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> RTABMAP_STATS(Gt, Rotational_rmse, deg);</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> RTABMAP_STATS(Gt, Rotational_mean, deg);</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> RTABMAP_STATS(Gt, Rotational_median, deg);</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> RTABMAP_STATS(Gt, Rotational_std, deg);</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> RTABMAP_STATS(Gt, Rotational_min, deg);</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> RTABMAP_STATS(Gt, Rotational_max, deg);</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> RTABMAP_STATS(Gt, Localization_linear_error, m);</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> RTABMAP_STATS(Gt, Localization_angular_error, deg);</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a917322822da5565f5c7438849f307c4f"> 292</a></span> <span class="keyword">static</span> <span class="keyword">const</span> std::map&lt;std::string, float&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a917322822da5565f5c7438849f307c4f">defaultData</a>();</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> </div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685"> 307</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">serializeData</a>(<span class="keyword">const</span> std::map&lt;std::string, float&gt; &amp; data);</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a167ea0c3bc76865e90624323e72399c7"> 321</a></span> <span class="keyword">static</span> std::map&lt;std::string, float&gt; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a167ea0c3bc76865e90624323e72399c7">deserializeData</a>(<span class="keyword">const</span> std::string &amp; data);</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> </div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a5f5bf8e57410944ec46be25a5bf8ab46"> 332</a></span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a5f5bf8e57410944ec46be25a5bf8ab46">Statistics</a>();</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> </div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#af7ecfdb141de651d094d28a2d035dca0"> 337</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#af7ecfdb141de651d094d28a2d035dca0">~Statistics</a>();</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> </div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79"> 354</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79">addStatistic</a>(<span class="keyword">const</span> std::string &amp; name, <span class="keywordtype">float</span> value);</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="comment">// setters</span></div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a938202c5836ba75d8eb06b0317712d06"> 367</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a938202c5836ba75d8eb06b0317712d06">setExtended</a>(<span class="keywordtype">bool</span> extended) {_extended = extended;}</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> </div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a4fa0c5aafea26effea2ed63d5bf3a31f"> 373</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a4fa0c5aafea26effea2ed63d5bf3a31f">setRefImageId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_refImageId = id;}</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> </div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a39895f500676995e2cc830169b80c7ca"> 379</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a39895f500676995e2cc830169b80c7ca">setRefImageMapId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_refImageMapId = id;}</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> </div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a19272faba1c28279bb565464afa84645"> 385</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a19272faba1c28279bb565464afa84645">setLoopClosureId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_loopClosureId = id;}</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> </div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a3b92ac9f165c77b2cc92f3fc6d7242cd"> 391</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a3b92ac9f165c77b2cc92f3fc6d7242cd">setLoopClosureMapId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_loopClosureMapId = id;}</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> </div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a25b8a9b50054a80dc09423b6fe9f68ff"> 397</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a25b8a9b50054a80dc09423b6fe9f68ff">setProximityDetectionId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_proximiyDetectionId = id;}</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> </div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a5e6df533a3c7a70d0391f7fe129e5eef"> 403</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a5e6df533a3c7a70d0391f7fe129e5eef">setProximityDetectionMapId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_proximiyDetectionMapId = id;}</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> </div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a12bfc3ce8eb232a6ac3942af504bedef"> 409</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a12bfc3ce8eb232a6ac3942af504bedef">setStamp</a>(<span class="keywordtype">double</span> stamp) {_stamp = stamp;}</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> </div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ae5de0aae15a10ed18cc30c2656bd4d6a"> 418</a></span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ae5de0aae15a10ed18cc30c2656bd4d6a">setLastSignatureData</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; data);</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> </div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd"> 430</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd">addSignatureData</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; data) {<a class="code hl_function" href="UStl_8h.html#ac9c9d1520c7facb601ae56cab3762b41">uInsert</a>(_signaturesData, std::make_pair(data.<a class="code hl_function" href="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9">id</a>(), data));}</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> </div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ad23568ea07d4ad167fcbd83a9083a2ef"> 436</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ad23568ea07d4ad167fcbd83a9083a2ef">setSignaturesData</a>(<span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; data) {_signaturesData = data;}</div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> </div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#acf7df1c7a8958a24988239fc40ece1ea"> 446</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#acf7df1c7a8958a24988239fc40ece1ea">setPoses</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses) {_poses = poses;}</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> </div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ac4761222db6faee6c34c53c1d4d00ec2"> 456</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ac4761222db6faee6c34c53c1d4d00ec2">setConstraints</a>(<span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints) {_constraints = constraints;}</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a6a70e49f42639395a89edbde4659bf88"> 467</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a6a70e49f42639395a89edbde4659bf88">setMapCorrection</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; mapCorrection) {_mapCorrection = mapCorrection;}</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ac323334656165fd230cbe396836c6939"> 476</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ac323334656165fd230cbe396836c6939">setLoopClosureTransform</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; loopClosureTransform) {_loopClosureTransform = loopClosureTransform;}</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> </div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a747aee7cd90f8318de6d0b82bedcd971"> 485</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a747aee7cd90f8318de6d0b82bedcd971">setLocalizationCovariance</a>(<span class="keyword">const</span> cv::Mat &amp; covariance) {_localizationCovariance = covariance;}</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#aaa519c598aa7a56eda73653ab34d6b48"> 491</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#aaa519c598aa7a56eda73653ab34d6b48">setLabels</a>(<span class="keyword">const</span> std::map&lt;int, std::string&gt; &amp; labels) {_labels = labels;}</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> </div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a918d447083cfcea3ab040e985461ae45"> 497</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a918d447083cfcea3ab040e985461ae45">setWeights</a>(<span class="keyword">const</span> std::map&lt;int, int&gt; &amp; weights) {_weights = weights;}</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> </div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a915bb9bd90193a92f565f56024d61586"> 504</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a915bb9bd90193a92f565f56024d61586">setPosterior</a>(<span class="keyword">const</span> std::map&lt;int, float&gt; &amp; posterior) {_posterior = posterior;}</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> </div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a8988eb66288df6a4d676b3cbd7b3a7ff"> 513</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a8988eb66288df6a4d676b3cbd7b3a7ff">setLikelihood</a>(<span class="keyword">const</span> std::map&lt;int, float&gt; &amp; likelihood) {_likelihood = likelihood;}</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> </div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a20a3634b3fbd36d86b1803f7427b105f"> 519</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a20a3634b3fbd36d86b1803f7427b105f">setRawLikelihood</a>(<span class="keyword">const</span> std::map&lt;int, float&gt; &amp; rawLikelihood) {_rawLikelihood = rawLikelihood;}</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> </div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a3c80bf518d943d9b86e5088a9269b455"> 528</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a3c80bf518d943d9b86e5088a9269b455">setLocalPath</a>(<span class="keyword">const</span> std::vector&lt;int&gt; &amp; localPath) {_localPath=localPath;}</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> </div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a845a35143a149c9670fb46938594fcb9"> 534</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a845a35143a149c9670fb46938594fcb9">setCurrentGoalId</a>(<span class="keywordtype">int</span> goal) {_currentGoalId=goal;}</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> </div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#abf88d8f411f811549d91d29a5b78d308"> 543</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#abf88d8f411f811549d91d29a5b78d308">setReducedIds</a>(<span class="keyword">const</span> std::map&lt;int, int&gt; &amp; reducedIds) {_reducedIds = reducedIds;}</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> </div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#aa43870ba13369f23c122bff62f6654c8"> 552</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#aa43870ba13369f23c122bff62f6654c8">setWmState</a>(<span class="keyword">const</span> std::vector&lt;int&gt; &amp; state) {_wmState = state;}</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> </div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a6032903dc163f7bc5d36c0520ccdfcef"> 561</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a6032903dc163f7bc5d36c0520ccdfcef">setOdomCachePoses</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses) {_odomCachePoses = poses;}</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> </div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ae3d58759c1cc237b2e297c2c5f608725"> 570</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ae3d58759c1cc237b2e297c2c5f608725">setOdomCacheConstraints</a>(<span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints) {_odomCacheConstraints = constraints;}</div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> </div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="comment">// getters</span></div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> </div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122"> 578</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122">extended</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _extended;}</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> </div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a4ba41e262e2af21bfb2c9d1b6e493d6d"> 584</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a4ba41e262e2af21bfb2c9d1b6e493d6d">refImageId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _refImageId;}</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> </div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a45abfdd8f164e0c457d64b80919d5052"> 590</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a45abfdd8f164e0c457d64b80919d5052">refImageMapId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _refImageMapId;}</div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> </div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a6a81189f2327a8b8f05a5f93d68fa3b7"> 596</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a6a81189f2327a8b8f05a5f93d68fa3b7">loopClosureId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _loopClosureId;}</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> </div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a1cf32a26d3ca103c22104015a3de8929"> 602</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a1cf32a26d3ca103c22104015a3de8929">loopClosureMapId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _loopClosureMapId;}</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> </div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a0aeff90b40410ef769e63ef6b000328b"> 608</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a0aeff90b40410ef769e63ef6b000328b">proximityDetectionId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _proximiyDetectionId;}</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> </div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ae973bc5dc35b89888a67d5e416536c53"> 614</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ae973bc5dc35b89888a67d5e416536c53">proximityDetectionMapId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _proximiyDetectionMapId;}</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> </div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a24a86b496c06f7d027ebb803b0ce70dd"> 620</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a24a86b496c06f7d027ebb803b0ce70dd">stamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stamp;}</div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> </div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a582cb4d6d0b3034062d508a6cac77081"> 630</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a582cb4d6d0b3034062d508a6cac77081">getLastSignatureData</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _signaturesData.empty()?_dummyEmptyData:_signaturesData.rbegin()-&gt;second;}</div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> </div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#abd89f302128c32d07b0dea07e50b742b"> 636</a></span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#abd89f302128c32d07b0dea07e50b742b">getSignaturesData</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _signaturesData;}</div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> </div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#acb80fff8690d88228ebda369e0e06289"> 642</a></span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#acb80fff8690d88228ebda369e0e06289">poses</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _poses;}</div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> </div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a30275a92af2f9fb08f3955c5b9e8b661"> 648</a></span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a30275a92af2f9fb08f3955c5b9e8b661">constraints</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _constraints;}</div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> </div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d"> 657</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d">mapCorrection</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _mapCorrection;}</div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> </div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a38c88cb8327baa290bf476326d24b54c"> 663</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a38c88cb8327baa290bf476326d24b54c">loopClosureTransform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _loopClosureTransform;}</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> </div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a4c05e2dd7412e875333f3edea70ffbb3"> 669</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a4c05e2dd7412e875333f3edea70ffbb3">localizationCovariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _localizationCovariance;}</div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> </div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#afeb2fd18d35f6a760ffa46ca0ebe4e49"> 675</a></span> <span class="keyword">const</span> std::map&lt;int, std::string&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#afeb2fd18d35f6a760ffa46ca0ebe4e49">labels</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _labels;}</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> </div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ab29fce77b8debf381356e27ac039fafc"> 681</a></span> <span class="keyword">const</span> std::map&lt;int, int&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ab29fce77b8debf381356e27ac039fafc">weights</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _weights;}</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> </div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ac50fb91120fdc16266460678088ac12f"> 687</a></span> <span class="keyword">const</span> std::map&lt;int, float&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ac50fb91120fdc16266460678088ac12f">posterior</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _posterior;}</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> </div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a4f3492b5cf6ff082d0061c9d7c67536f"> 693</a></span> <span class="keyword">const</span> std::map&lt;int, float&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a4f3492b5cf6ff082d0061c9d7c67536f">likelihood</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _likelihood;}</div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> </div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a472f50deace411e1fbbef95f4fb698de"> 699</a></span> <span class="keyword">const</span> std::map&lt;int, float&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a472f50deace411e1fbbef95f4fb698de">rawLikelihood</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _rawLikelihood;}</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> </div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a82f7c8f962fd5fcea9a5d4fc087cb2ce"> 705</a></span> <span class="keyword">const</span> std::vector&lt;int&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a82f7c8f962fd5fcea9a5d4fc087cb2ce">localPath</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _localPath;}</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> </div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#adae0424da0557be95b6968eecdbc628e"> 711</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Statistics.html#adae0424da0557be95b6968eecdbc628e">currentGoalId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _currentGoalId;}</div>
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"> 712</span> </div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a8c1e9a5c04232909f62447656d6bcbce"> 717</a></span> <span class="keyword">const</span> std::map&lt;int, int&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a8c1e9a5c04232909f62447656d6bcbce">reducedIds</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _reducedIds;}</div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"> 718</span> </div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a0b0bb69d788a142a7b51ae2e916798b6"> 723</a></span> <span class="keyword">const</span> std::vector&lt;int&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a0b0bb69d788a142a7b51ae2e916798b6">wmState</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _wmState;}</div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> </div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a8d88d70935ef4e110cd2c92b07ed74b2"> 729</a></span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a8d88d70935ef4e110cd2c92b07ed74b2">odomCachePoses</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _odomCachePoses;}</div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> </div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#a44b7a6c4d5b8bd58efcce2fdf3f2a9fd"> 735</a></span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#a44b7a6c4d5b8bd58efcce2fdf3f2a9fd">odomCacheConstraints</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _odomCacheConstraints;}</div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</span> </div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a"> 748</a></span> <span class="keyword">const</span> std::map&lt;std::string, float&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">data</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _data;}</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span> </div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> <span class="keywordtype">bool</span> _extended; </div>
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"> 752</span> </div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> <span class="keywordtype">int</span> _refImageId; </div>
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span> <span class="keywordtype">int</span> _refImageMapId; </div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> <span class="keywordtype">int</span> _loopClosureId; </div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> <span class="keywordtype">int</span> _loopClosureMapId; </div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span> <span class="keywordtype">int</span> _proximiyDetectionId; </div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <span class="keywordtype">int</span> _proximiyDetectionMapId; </div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> <span class="keywordtype">double</span> _stamp; </div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> </div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"> 761</span> std::map&lt;int, Signature&gt; _signaturesData; </div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> _dummyEmptyData; </div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> </div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> std::map&lt;int, Transform&gt; _poses; </div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"> 765</span> std::multimap&lt;int, Link&gt; _constraints; </div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"> 766</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _mapCorrection; </div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"> 767</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _loopClosureTransform; </div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"> 768</span> cv::Mat _localizationCovariance; </div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno"> 769</span> </div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"> 770</span> std::map&lt;int, std::string&gt; _labels; </div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno"> 771</span> std::map&lt;int, int&gt; _weights; </div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"> 772</span> std::map&lt;int, float&gt; _posterior; </div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"> 773</span> std::map&lt;int, float&gt; _likelihood; </div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> std::map&lt;int, float&gt; _rawLikelihood; </div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> </div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> std::vector&lt;int&gt; _localPath; </div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> <span class="keywordtype">int</span> _currentGoalId; </div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"> 778</span> </div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"> 779</span> std::map&lt;int, int&gt; _reducedIds; </div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"> 780</span> </div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> std::vector&lt;int&gt; _wmState; </div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"> 782</span> </div>
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span> std::map&lt;int, Transform&gt; _odomCachePoses; </div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"> 784</span> std::multimap&lt;int, Link&gt; _odomCacheConstraints; </div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> </div>
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"> 795</span> std::map&lt;std::string, float&gt; _data;</div>
<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> </div>
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"> 797</span> <span class="keyword">static</span> std::map&lt;std::string, float&gt; _defaultData; </div>
<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> _defaultDataInitialized; </div>
<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"> 799</span> <span class="comment">// end extended data</span></div>
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno"> 800</span>};</div>
</div>
<div class="line"><a id="l00801" name="l00801"></a><span class="lineno"> 801</span> </div>
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"> 802</span>}<span class="comment">// end namespace rtabmap</span></div>
<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"> 803</span> </div>
<div class="line"><a id="l00804" name="l00804"></a><span class="lineno"> 804</span><span class="preprocessor">#endif </span><span class="comment">/* STATISTICS_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="aUStl_8h_html_ac9c9d1520c7facb601ae56cab3762b41"><div class="ttname"><a href="UStl_8h.html#ac9c9d1520c7facb601ae56cab3762b41">uInsert</a></div><div class="ttdeci">void uInsert(std::map&lt; K, V &gt; &amp;map, const std::pair&lt; K, V &gt; &amp;pair)</div><div class="ttdef"><b>Definition</b> <a href="UStl_8h_source.html#l00441">UStl.h:441</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_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_1Signature_html_a31c6e7b7e720eca20fb5935e0ee1d9f9"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9">rtabmap::Signature::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">Returns the signature ID.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00168">Signature.h:168</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_1Statistics_html_a0aeff90b40410ef769e63ef6b000328b"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a0aeff90b40410ef769e63ef6b000328b">rtabmap::Statistics::proximityDetectionId</a></div><div class="ttdeci">int proximityDetectionId() const</div><div class="ttdoc">Returns the proximity detection ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00608">Statistics.h:608</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a0b0bb69d788a142a7b51ae2e916798b6"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a0b0bb69d788a142a7b51ae2e916798b6">rtabmap::Statistics::wmState</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; wmState() const</div><div class="ttdoc">Returns the working memory state.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00723">Statistics.h:723</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a12bfc3ce8eb232a6ac3942af504bedef"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a12bfc3ce8eb232a6ac3942af504bedef">rtabmap::Statistics::setStamp</a></div><div class="ttdeci">void setStamp(double stamp)</div><div class="ttdoc">Sets the timestamp for these statistics.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00409">Statistics.h:409</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a167ea0c3bc76865e90624323e72399c7"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a167ea0c3bc76865e90624323e72399c7">rtabmap::Statistics::deserializeData</a></div><div class="ttdeci">static std::map&lt; std::string, float &gt; deserializeData(const std::string &amp;data)</div><div class="ttdoc">Deserializes a statistics data map from a string.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a19272faba1c28279bb565464afa84645"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a19272faba1c28279bb565464afa84645">rtabmap::Statistics::setLoopClosureId</a></div><div class="ttdeci">void setLoopClosureId(int id)</div><div class="ttdoc">Sets the loop closure detection ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00385">Statistics.h:385</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a1cf32a26d3ca103c22104015a3de8929"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a1cf32a26d3ca103c22104015a3de8929">rtabmap::Statistics::loopClosureMapId</a></div><div class="ttdeci">int loopClosureMapId() const</div><div class="ttdoc">Returns the loop closure map ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00602">Statistics.h:602</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a1e1ba8f7429fa212aa32897877dec122"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122">rtabmap::Statistics::extended</a></div><div class="ttdeci">bool extended() const</div><div class="ttdoc">Returns whether extended statistics mode is enabled.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00578">Statistics.h:578</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a20a3634b3fbd36d86b1803f7427b105f"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a20a3634b3fbd36d86b1803f7427b105f">rtabmap::Statistics::setRawLikelihood</a></div><div class="ttdeci">void setRawLikelihood(const std::map&lt; int, float &gt; &amp;rawLikelihood)</div><div class="ttdoc">Sets raw likelihood values (before normalization)</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00519">Statistics.h:519</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a24a86b496c06f7d027ebb803b0ce70dd"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a24a86b496c06f7d027ebb803b0ce70dd">rtabmap::Statistics::stamp</a></div><div class="ttdeci">double stamp() const</div><div class="ttdoc">Returns the timestamp.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00620">Statistics.h:620</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a24d85beaf52fd03ad67c6d9d417efd79"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79">rtabmap::Statistics::addStatistic</a></div><div class="ttdeci">void addStatistic(const std::string &amp;name, float value)</div><div class="ttdoc">Adds a statistic value to the data map.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a25b8a9b50054a80dc09423b6fe9f68ff"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a25b8a9b50054a80dc09423b6fe9f68ff">rtabmap::Statistics::setProximityDetectionId</a></div><div class="ttdeci">void setProximityDetectionId(int id)</div><div class="ttdoc">Sets the proximity detection ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00397">Statistics.h:397</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a30275a92af2f9fb08f3955c5b9e8b661"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a30275a92af2f9fb08f3955c5b9e8b661">rtabmap::Statistics::constraints</a></div><div class="ttdeci">const std::multimap&lt; int, Link &gt; &amp; constraints() const</div><div class="ttdoc">Returns the constraint graph.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00648">Statistics.h:648</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a38c88cb8327baa290bf476326d24b54c"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a38c88cb8327baa290bf476326d24b54c">rtabmap::Statistics::loopClosureTransform</a></div><div class="ttdeci">const Transform &amp; loopClosureTransform() const</div><div class="ttdoc">Returns the loop closure transform.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00663">Statistics.h:663</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a39895f500676995e2cc830169b80c7ca"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a39895f500676995e2cc830169b80c7ca">rtabmap::Statistics::setRefImageMapId</a></div><div class="ttdeci">void setRefImageMapId(int id)</div><div class="ttdoc">Sets the reference image map ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00379">Statistics.h:379</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a3b92ac9f165c77b2cc92f3fc6d7242cd"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a3b92ac9f165c77b2cc92f3fc6d7242cd">rtabmap::Statistics::setLoopClosureMapId</a></div><div class="ttdeci">void setLoopClosureMapId(int id)</div><div class="ttdoc">Sets the loop closure map ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00391">Statistics.h:391</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a3c80bf518d943d9b86e5088a9269b455"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a3c80bf518d943d9b86e5088a9269b455">rtabmap::Statistics::setLocalPath</a></div><div class="ttdeci">void setLocalPath(const std::vector&lt; int &gt; &amp;localPath)</div><div class="ttdoc">Sets the local path (sequence of node IDs)</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00528">Statistics.h:528</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a44b7a6c4d5b8bd58efcce2fdf3f2a9fd"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a44b7a6c4d5b8bd58efcce2fdf3f2a9fd">rtabmap::Statistics::odomCacheConstraints</a></div><div class="ttdeci">const std::multimap&lt; int, Link &gt; &amp; odomCacheConstraints() const</div><div class="ttdoc">Returns odometry cache constraints.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00735">Statistics.h:735</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a45abfdd8f164e0c457d64b80919d5052"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a45abfdd8f164e0c457d64b80919d5052">rtabmap::Statistics::refImageMapId</a></div><div class="ttdeci">int refImageMapId() const</div><div class="ttdoc">Returns the reference image map ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00590">Statistics.h:590</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a472f50deace411e1fbbef95f4fb698de"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a472f50deace411e1fbbef95f4fb698de">rtabmap::Statistics::rawLikelihood</a></div><div class="ttdeci">const std::map&lt; int, float &gt; &amp; rawLikelihood() const</div><div class="ttdoc">Returns raw likelihood values.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00699">Statistics.h:699</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a4ba41e262e2af21bfb2c9d1b6e493d6d"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a4ba41e262e2af21bfb2c9d1b6e493d6d">rtabmap::Statistics::refImageId</a></div><div class="ttdeci">int refImageId() const</div><div class="ttdoc">Returns the reference image ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00584">Statistics.h:584</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a4c05e2dd7412e875333f3edea70ffbb3"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a4c05e2dd7412e875333f3edea70ffbb3">rtabmap::Statistics::localizationCovariance</a></div><div class="ttdeci">const cv::Mat &amp; localizationCovariance() const</div><div class="ttdoc">Returns the localization covariance matrix.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00669">Statistics.h:669</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a4f3492b5cf6ff082d0061c9d7c67536f"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a4f3492b5cf6ff082d0061c9d7c67536f">rtabmap::Statistics::likelihood</a></div><div class="ttdeci">const std::map&lt; int, float &gt; &amp; likelihood() const</div><div class="ttdoc">Returns likelihood values.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00693">Statistics.h:693</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a4fa0c5aafea26effea2ed63d5bf3a31f"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a4fa0c5aafea26effea2ed63d5bf3a31f">rtabmap::Statistics::setRefImageId</a></div><div class="ttdeci">void setRefImageId(int id)</div><div class="ttdoc">Sets the reference image ID (current/last processed signature ID)</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00373">Statistics.h:373</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a55748a17bc6348a83dc184fb1b2631fd"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd">rtabmap::Statistics::addSignatureData</a></div><div class="ttdeci">void addSignatureData(const Signature &amp;data)</div><div class="ttdoc">Adds signature data to the statistics.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00430">Statistics.h:430</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a582cb4d6d0b3034062d508a6cac77081"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a582cb4d6d0b3034062d508a6cac77081">rtabmap::Statistics::getLastSignatureData</a></div><div class="ttdeci">const Signature &amp; getLastSignatureData() const</div><div class="ttdoc">Returns the last signature data.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00630">Statistics.h:630</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a5e6df533a3c7a70d0391f7fe129e5eef"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a5e6df533a3c7a70d0391f7fe129e5eef">rtabmap::Statistics::setProximityDetectionMapId</a></div><div class="ttdeci">void setProximityDetectionMapId(int id)</div><div class="ttdoc">Sets the proximity detection map ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00403">Statistics.h:403</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a5f5bf8e57410944ec46be25a5bf8ab46"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a5f5bf8e57410944ec46be25a5bf8ab46">rtabmap::Statistics::Statistics</a></div><div class="ttdeci">Statistics()</div><div class="ttdoc">Default constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a6032903dc163f7bc5d36c0520ccdfcef"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a6032903dc163f7bc5d36c0520ccdfcef">rtabmap::Statistics::setOdomCachePoses</a></div><div class="ttdeci">void setOdomCachePoses(const std::map&lt; int, Transform &gt; &amp;poses)</div><div class="ttdoc">Sets odometry cache poses.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00561">Statistics.h:561</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a6a70e49f42639395a89edbde4659bf88"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a6a70e49f42639395a89edbde4659bf88">rtabmap::Statistics::setMapCorrection</a></div><div class="ttdeci">void setMapCorrection(const Transform &amp;mapCorrection)</div><div class="ttdoc">Sets the map correction transform.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00467">Statistics.h:467</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a6a81189f2327a8b8f05a5f93d68fa3b7"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a6a81189f2327a8b8f05a5f93d68fa3b7">rtabmap::Statistics::loopClosureId</a></div><div class="ttdeci">int loopClosureId() const</div><div class="ttdoc">Returns the loop closure detection ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00596">Statistics.h:596</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a747aee7cd90f8318de6d0b82bedcd971"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a747aee7cd90f8318de6d0b82bedcd971">rtabmap::Statistics::setLocalizationCovariance</a></div><div class="ttdeci">void setLocalizationCovariance(const cv::Mat &amp;covariance)</div><div class="ttdoc">Sets the localization covariance matrix.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00485">Statistics.h:485</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a775992631cd8d976a94ea6c1560dad0d"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d">rtabmap::Statistics::mapCorrection</a></div><div class="ttdeci">const Transform &amp; mapCorrection() const</div><div class="ttdoc">Returns the map correction transform.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00657">Statistics.h:657</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a82f7c8f962fd5fcea9a5d4fc087cb2ce"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a82f7c8f962fd5fcea9a5d4fc087cb2ce">rtabmap::Statistics::localPath</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; localPath() const</div><div class="ttdoc">Returns the local path.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00705">Statistics.h:705</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a845a35143a149c9670fb46938594fcb9"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a845a35143a149c9670fb46938594fcb9">rtabmap::Statistics::setCurrentGoalId</a></div><div class="ttdeci">void setCurrentGoalId(int goal)</div><div class="ttdoc">Sets the current goal node ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00534">Statistics.h:534</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a8988eb66288df6a4d676b3cbd7b3a7ff"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a8988eb66288df6a4d676b3cbd7b3a7ff">rtabmap::Statistics::setLikelihood</a></div><div class="ttdeci">void setLikelihood(const std::map&lt; int, float &gt; &amp;likelihood)</div><div class="ttdoc">Sets likelihood values for loop closure hypotheses.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00513">Statistics.h:513</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a8c1e9a5c04232909f62447656d6bcbce"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a8c1e9a5c04232909f62447656d6bcbce">rtabmap::Statistics::reducedIds</a></div><div class="ttdeci">const std::map&lt; int, int &gt; &amp; reducedIds() const</div><div class="ttdoc">Returns the reduced IDs mapping.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00717">Statistics.h:717</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a8d88d70935ef4e110cd2c92b07ed74b2"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a8d88d70935ef4e110cd2c92b07ed74b2">rtabmap::Statistics::odomCachePoses</a></div><div class="ttdeci">const std::map&lt; int, Transform &gt; &amp; odomCachePoses() const</div><div class="ttdoc">Returns odometry cache poses.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00729">Statistics.h:729</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a915bb9bd90193a92f565f56024d61586"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a915bb9bd90193a92f565f56024d61586">rtabmap::Statistics::setPosterior</a></div><div class="ttdeci">void setPosterior(const std::map&lt; int, float &gt; &amp;posterior)</div><div class="ttdoc">Sets posterior probabilities for loop closure hypotheses.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00504">Statistics.h:504</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a917322822da5565f5c7438849f307c4f"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a917322822da5565f5c7438849f307c4f">rtabmap::Statistics::defaultData</a></div><div class="ttdeci">static const std::map&lt; std::string, float &gt; &amp; defaultData()</div><div class="ttdoc">Returns the default statistics data map.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a918d447083cfcea3ab040e985461ae45"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a918d447083cfcea3ab040e985461ae45">rtabmap::Statistics::setWeights</a></div><div class="ttdeci">void setWeights(const std::map&lt; int, int &gt; &amp;weights)</div><div class="ttdoc">Sets node weights.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00497">Statistics.h:497</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a938202c5836ba75d8eb06b0317712d06"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a938202c5836ba75d8eb06b0317712d06">rtabmap::Statistics::setExtended</a></div><div class="ttdeci">void setExtended(bool extended)</div><div class="ttdoc">Sets whether extended statistics mode is enabled.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00367">Statistics.h:367</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_aa43870ba13369f23c122bff62f6654c8"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#aa43870ba13369f23c122bff62f6654c8">rtabmap::Statistics::setWmState</a></div><div class="ttdeci">void setWmState(const std::vector&lt; int &gt; &amp;state)</div><div class="ttdoc">Sets the working memory state.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00552">Statistics.h:552</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_aaa519c598aa7a56eda73653ab34d6b48"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#aaa519c598aa7a56eda73653ab34d6b48">rtabmap::Statistics::setLabels</a></div><div class="ttdeci">void setLabels(const std::map&lt; int, std::string &gt; &amp;labels)</div><div class="ttdoc">Sets node labels.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00491">Statistics.h:491</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ab29fce77b8debf381356e27ac039fafc"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ab29fce77b8debf381356e27ac039fafc">rtabmap::Statistics::weights</a></div><div class="ttdeci">const std::map&lt; int, int &gt; &amp; weights() const</div><div class="ttdoc">Returns node weights.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00681">Statistics.h:681</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ab34cfba17216b060f57e106d7c169685"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">rtabmap::Statistics::serializeData</a></div><div class="ttdeci">static std::string serializeData(const std::map&lt; std::string, float &gt; &amp;data)</div><div class="ttdoc">Serializes a statistics data map to a string.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ab5c8be76435cdfb98c656ccc236f029a"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">rtabmap::Statistics::data</a></div><div class="ttdeci">const std::map&lt; std::string, float &gt; &amp; data() const</div><div class="ttdoc">Returns the statistics data map.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00748">Statistics.h:748</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_abd89f302128c32d07b0dea07e50b742b"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#abd89f302128c32d07b0dea07e50b742b">rtabmap::Statistics::getSignaturesData</a></div><div class="ttdeci">const std::map&lt; int, Signature &gt; &amp; getSignaturesData() const</div><div class="ttdoc">Returns all signature data.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00636">Statistics.h:636</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_abf88d8f411f811549d91d29a5b78d308"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#abf88d8f411f811549d91d29a5b78d308">rtabmap::Statistics::setReducedIds</a></div><div class="ttdeci">void setReducedIds(const std::map&lt; int, int &gt; &amp;reducedIds)</div><div class="ttdoc">Sets the reduced IDs mapping.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00543">Statistics.h:543</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ac323334656165fd230cbe396836c6939"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ac323334656165fd230cbe396836c6939">rtabmap::Statistics::setLoopClosureTransform</a></div><div class="ttdeci">void setLoopClosureTransform(const Transform &amp;loopClosureTransform)</div><div class="ttdoc">Sets the loop closure transform.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00476">Statistics.h:476</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ac4761222db6faee6c34c53c1d4d00ec2"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ac4761222db6faee6c34c53c1d4d00ec2">rtabmap::Statistics::setConstraints</a></div><div class="ttdeci">void setConstraints(const std::multimap&lt; int, Link &gt; &amp;constraints)</div><div class="ttdoc">Sets the constraint graph (links between nodes)</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00456">Statistics.h:456</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ac50fb91120fdc16266460678088ac12f"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ac50fb91120fdc16266460678088ac12f">rtabmap::Statistics::posterior</a></div><div class="ttdeci">const std::map&lt; int, float &gt; &amp; posterior() const</div><div class="ttdoc">Returns posterior probabilities.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00687">Statistics.h:687</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_acb80fff8690d88228ebda369e0e06289"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#acb80fff8690d88228ebda369e0e06289">rtabmap::Statistics::poses</a></div><div class="ttdeci">const std::map&lt; int, Transform &gt; &amp; poses() const</div><div class="ttdoc">Returns the pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00642">Statistics.h:642</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_acf7df1c7a8958a24988239fc40ece1ea"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#acf7df1c7a8958a24988239fc40ece1ea">rtabmap::Statistics::setPoses</a></div><div class="ttdeci">void setPoses(const std::map&lt; int, Transform &gt; &amp;poses)</div><div class="ttdoc">Sets the pose graph (node poses)</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00446">Statistics.h:446</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ad23568ea07d4ad167fcbd83a9083a2ef"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ad23568ea07d4ad167fcbd83a9083a2ef">rtabmap::Statistics::setSignaturesData</a></div><div class="ttdeci">void setSignaturesData(const std::map&lt; int, Signature &gt; &amp;data)</div><div class="ttdoc">Sets all signature data at once.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00436">Statistics.h:436</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_adae0424da0557be95b6968eecdbc628e"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#adae0424da0557be95b6968eecdbc628e">rtabmap::Statistics::currentGoalId</a></div><div class="ttdeci">int currentGoalId() const</div><div class="ttdoc">Returns the current goal node ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00711">Statistics.h:711</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ae3d58759c1cc237b2e297c2c5f608725"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ae3d58759c1cc237b2e297c2c5f608725">rtabmap::Statistics::setOdomCacheConstraints</a></div><div class="ttdeci">void setOdomCacheConstraints(const std::multimap&lt; int, Link &gt; &amp;constraints)</div><div class="ttdoc">Sets odometry cache constraints.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00570">Statistics.h:570</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ae5de0aae15a10ed18cc30c2656bd4d6a"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ae5de0aae15a10ed18cc30c2656bd4d6a">rtabmap::Statistics::setLastSignatureData</a></div><div class="ttdeci">RTABMAP_DEPRECATED void setLastSignatureData(const Signature &amp;data)</div><div class="ttdoc">Sets the last signature data (deprecated)</div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_ae973bc5dc35b89888a67d5e416536c53"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#ae973bc5dc35b89888a67d5e416536c53">rtabmap::Statistics::proximityDetectionMapId</a></div><div class="ttdeci">int proximityDetectionMapId() const</div><div class="ttdoc">Returns the proximity detection map ID.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00614">Statistics.h:614</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_af7ecfdb141de651d094d28a2d035dca0"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#af7ecfdb141de651d094d28a2d035dca0">rtabmap::Statistics::~Statistics</a></div><div class="ttdeci">virtual ~Statistics()</div><div class="ttdoc">Virtual destructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_afeb2fd18d35f6a760ffa46ca0ebe4e49"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#afeb2fd18d35f6a760ffa46ca0ebe4e49">rtabmap::Statistics::labels</a></div><div class="ttdeci">const std::map&lt; int, std::string &gt; &amp; labels() const</div><div class="ttdoc">Returns node labels.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00675">Statistics.h:675</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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
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