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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.12</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="headertitle"><div class="title">rtabmap::DBDriver Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
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<p>Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
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<a href="classrtabmap_1_1DBDriver.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>></code></p>
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Inheritance diagram for rtabmap::DBDriver:</div>
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Collaboration diagram for rtabmap::DBDriver:</div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a3c73e045d9bdf8cad1c58efc9d930427" id="r_a3c73e045d9bdf8cad1c58efc9d930427"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427">parseParameters</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters)</td></tr>
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<tr class="memdesc:a3c73e045d9bdf8cad1c58efc9d930427"><td class="mdescLeft"> </td><td class="mdescRight">Parse driver parameters from the map (e.g. target schema version). <br /></td></tr>
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<tr class="separator:a3c73e045d9bdf8cad1c58efc9d930427"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0ecd6182f404d8e6822b66a54f1d248a" id="r_a0ecd6182f404d8e6822b66a54f1d248a"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a">isInMemory</a> () const</td></tr>
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<tr class="memdesc:a0ecd6182f404d8e6822b66a54f1d248a"><td class="mdescLeft"> </td><td class="mdescRight">True when no database file URL was set at open time. <br /></td></tr>
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<tr class="separator:a0ecd6182f404d8e6822b66a54f1d248a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a79365611bce06aeda0d078641be89cab" id="r_a79365611bce06aeda0d078641be89cab"><td class="memItemLeft" align="right" valign="top">const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab">getUrl</a> () const</td></tr>
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<tr class="separator:a79365611bce06aeda0d078641be89cab"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a456bc49e8e60e0c754078a4b09e3f1a1" id="r_a456bc49e8e60e0c754078a4b09e3f1a1"><td class="memItemLeft" align="right" valign="top">const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1">getTargetVersion</a> () const</td></tr>
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<tr class="separator:a456bc49e8e60e0c754078a4b09e3f1a1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad1510e157f3ab8df3284528369a6d88f" id="r_ad1510e157f3ab8df3284528369a6d88f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">asyncSave</a> (<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> *s)</td></tr>
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||
<tr class="memdesc:ad1510e157f3ab8df3284528369a6d88f"><td class="mdescLeft"> </td><td class="mdescRight">Queue a signature for deferred save; ownership is transferred. <br /></td></tr>
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<tr class="separator:ad1510e157f3ab8df3284528369a6d88f"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:a88eee22aa9707a6993f734fe29f6af5d" id="r_a88eee22aa9707a6993f734fe29f6af5d"><td class="memItemLeft" align="right" valign="top"><a id="a88eee22aa9707a6993f734fe29f6af5d" name="a88eee22aa9707a6993f734fe29f6af5d"></a>
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void </td><td class="memItemRight" valign="bottom"><b>asyncSave</b> (<a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> *vw)</td></tr>
|
||
<tr class="memdesc:a88eee22aa9707a6993f734fe29f6af5d"><td class="mdescLeft"> </td><td class="mdescRight">Queue a visual word for deferred save; ownership is transferred. <br /></td></tr>
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||
<tr class="separator:a88eee22aa9707a6993f734fe29f6af5d"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ab4a0036162994c2ef76d4236e2a7ea0a" id="r_ab4a0036162994c2ef76d4236e2a7ea0a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a">emptyTrashes</a> (bool async=false)</td></tr>
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||
<tr class="memdesc:ab4a0036162994c2ef76d4236e2a7ea0a"><td class="mdescLeft"> </td><td class="mdescRight">Flush queued signatures and visual words to the database. <br /></td></tr>
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||
<tr class="separator:ab4a0036162994c2ef76d4236e2a7ea0a"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ada0df079a28dd5c2cc37baf2f3f8e79d" id="r_ada0df079a28dd5c2cc37baf2f3f8e79d"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#ada0df079a28dd5c2cc37baf2f3f8e79d">getEmptyTrashesTime</a> () const</td></tr>
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||
<tr class="separator:ada0df079a28dd5c2cc37baf2f3f8e79d"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ab635aa1b5087868f3bc3e27cc3bd92ab" id="r_ab635aa1b5087868f3bc3e27cc3bd92ab"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#ab635aa1b5087868f3bc3e27cc3bd92ab">setTimestampUpdateEnabled</a> (bool enabled)</td></tr>
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<tr class="separator:ab635aa1b5087868f3bc3e27cc3bd92ab"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abbf62fc6967cf618e6b2aece44f45230" id="r_abbf62fc6967cf618e6b2aece44f45230"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230">generateGraph</a> (const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &otherSignatures=std::map< int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * >())</td></tr>
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||
<tr class="memdesc:abbf62fc6967cf618e6b2aece44f45230"><td class="mdescLeft"> </td><td class="mdescRight">Export the pose graph to a Graphviz DOT file for visualization. <br /></td></tr>
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<tr class="separator:abbf62fc6967cf618e6b2aece44f45230"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:a835fc23bd4f6532af71f3aadfb8037d8" id="r_a835fc23bd4f6532af71f3aadfb8037d8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8">executeNoResult</a> (const std::string &sql) const</td></tr>
|
||
<tr class="memdesc:a835fc23bd4f6532af71f3aadfb8037d8"><td class="mdescLeft"> </td><td class="mdescRight">Run a SQL statement that does not return result rows. <br /></td></tr>
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||
<tr class="separator:a835fc23bd4f6532af71f3aadfb8037d8"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr><td colspan="2"><div class="groupHeader">Direct database updates</div></td></tr>
|
||
<tr><td colspan="2"><div class="groupText"><p>Write node or link data immediately (not via the async trash). </p>
|
||
</div></td></tr>
|
||
<tr class="memitem:acfb5fed58aad744050c392a8d346926b" id="r_acfb5fed58aad744050c392a8d346926b"><td class="memItemLeft" align="right" valign="top"><a id="acfb5fed58aad744050c392a8d346926b" name="acfb5fed58aad744050c392a8d346926b"></a>
|
||
void </td><td class="memItemRight" valign="bottom"><b>addLink</b> (const <a class="el" href="classrtabmap_1_1Link.html">Link</a> &link)</td></tr>
|
||
<tr class="memdesc:acfb5fed58aad744050c392a8d346926b"><td class="mdescLeft"> </td><td class="mdescRight">Insert or replace a link in the database. <br /></td></tr>
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||
<tr class="separator:acfb5fed58aad744050c392a8d346926b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7c3c7536423a956e74d3f609ee814717" id="r_a7c3c7536423a956e74d3f609ee814717"><td class="memItemLeft" align="right" valign="top"><a id="a7c3c7536423a956e74d3f609ee814717" name="a7c3c7536423a956e74d3f609ee814717"></a>
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||
void </td><td class="memItemRight" valign="bottom"><b>removeLink</b> (int from, int to)</td></tr>
|
||
<tr class="memdesc:a7c3c7536423a956e74d3f609ee814717"><td class="mdescLeft"> </td><td class="mdescRight">Remove a link between two nodes. <br /></td></tr>
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<tr class="separator:a7c3c7536423a956e74d3f609ee814717"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a94eb69c07a44343c008654b1401dce80" id="r_a94eb69c07a44343c008654b1401dce80"><td class="memItemLeft" align="right" valign="top"><a id="a94eb69c07a44343c008654b1401dce80" name="a94eb69c07a44343c008654b1401dce80"></a>
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void </td><td class="memItemRight" valign="bottom"><b>updateLink</b> (const <a class="el" href="classrtabmap_1_1Link.html">Link</a> &link)</td></tr>
|
||
<tr class="memdesc:a94eb69c07a44343c008654b1401dce80"><td class="mdescLeft"> </td><td class="mdescRight">Update an existing link in the database. <br /></td></tr>
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<tr class="separator:a94eb69c07a44343c008654b1401dce80"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2f5e8e0b367e49cfbba7c96b28306a61" id="r_a2f5e8e0b367e49cfbba7c96b28306a61"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61">updateOccupancyGrid</a> (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)</td></tr>
|
||
<tr class="memdesc:a2f5e8e0b367e49cfbba7c96b28306a61"><td class="mdescLeft"> </td><td class="mdescRight">Update occupancy grid cells for a node. <br /></td></tr>
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<tr class="separator:a2f5e8e0b367e49cfbba7c96b28306a61"><td class="memSeparator" colspan="2"> </td></tr>
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void </td><td class="memItemRight" valign="bottom"><b>updateCalibration</b> (int nodeId, const std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > &models, const std::vector< <a class="el" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> > &stereoModels)</td></tr>
|
||
<tr class="memdesc:a6d59931a9496cf1b23568f79fc421cc1"><td class="mdescLeft"> </td><td class="mdescRight">Update camera calibration stored for a node. <br /></td></tr>
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<tr class="separator:a6d59931a9496cf1b23568f79fc421cc1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3a02d595356e2dd0ed8b8933a6c4e811" id="r_a3a02d595356e2dd0ed8b8933a6c4e811"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811">updateDepthImage</a> (int nodeId, const cv::Mat &image, const std::string &format)</td></tr>
|
||
<tr class="memdesc:a3a02d595356e2dd0ed8b8933a6c4e811"><td class="mdescLeft"> </td><td class="mdescRight">Update the depth image stored for a node. <br /></td></tr>
|
||
<tr class="separator:a3a02d595356e2dd0ed8b8933a6c4e811"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a7d167e53d447d77dd3fe35665f8a661b" id="r_a7d167e53d447d77dd3fe35665f8a661b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b">updateLaserScan</a> (int nodeId, const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &scan)</td></tr>
|
||
<tr class="memdesc:a7d167e53d447d77dd3fe35665f8a661b"><td class="mdescLeft"> </td><td class="mdescRight">Update the laser scan stored for a node. <br /></td></tr>
|
||
<tr class="separator:a7d167e53d447d77dd3fe35665f8a661b"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr><td colspan="2"><div class="groupHeader">Session exports and map artifacts</div></td></tr>
|
||
<tr><td colspan="2"><div class="groupText"><p><a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a>, preview image, optimized poses, 2D map, mesh and FLANN index. </p>
|
||
</div></td></tr>
|
||
<tr class="memitem:a898f008bec52ee82902f21824e9c7e1d" id="r_a898f008bec52ee82902f21824e9c7e1d"><td class="memItemLeft" align="right" valign="top"><a id="a898f008bec52ee82902f21824e9c7e1d" name="a898f008bec52ee82902f21824e9c7e1d"></a>
|
||
void </td><td class="memItemRight" valign="bottom"><b>addInfoAfterRun</b> (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters) const</td></tr>
|
||
<tr class="separator:a898f008bec52ee82902f21824e9c7e1d"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a4dbccd0dabf72da724488692b1713832" id="r_a4dbccd0dabf72da724488692b1713832"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832">addStatistics</a> (const <a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a> &statistics, bool saveWmState) const</td></tr>
|
||
<tr class="memdesc:a4dbccd0dabf72da724488692b1713832"><td class="mdescLeft"> </td><td class="mdescRight">Append a <a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a> record for a processed node. <br /></td></tr>
|
||
<tr class="separator:a4dbccd0dabf72da724488692b1713832"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a8323a53d20e4ade6b1c7b268c473a170" id="r_a8323a53d20e4ade6b1c7b268c473a170"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170">savePreviewImage</a> (const cv::Mat &image) const</td></tr>
|
||
<tr class="memdesc:a8323a53d20e4ade6b1c7b268c473a170"><td class="mdescLeft"> </td><td class="mdescRight">Save the map preview thumbnail in the Admin table. <br /></td></tr>
|
||
<tr class="separator:a8323a53d20e4ade6b1c7b268c473a170"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:aa1423596308a8baf123ecbc7fdfc1e82" id="r_aa1423596308a8baf123ecbc7fdfc1e82"><td class="memItemLeft" align="right" valign="top"><a id="aa1423596308a8baf123ecbc7fdfc1e82" name="aa1423596308a8baf123ecbc7fdfc1e82"></a>
|
||
cv::Mat </td><td class="memItemRight" valign="bottom"><b>loadPreviewImage</b> () const</td></tr>
|
||
<tr class="memdesc:aa1423596308a8baf123ecbc7fdfc1e82"><td class="mdescLeft"> </td><td class="mdescRight">Load and uncompress the map preview thumbnail from the Admin table. <br /></td></tr>
|
||
<tr class="separator:aa1423596308a8baf123ecbc7fdfc1e82"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ab91ad40e4273485e5f0951fac32c22e4" id="r_ab91ad40e4273485e5f0951fac32c22e4"><td class="memItemLeft" align="right" valign="top"><a id="ab91ad40e4273485e5f0951fac32c22e4" name="ab91ad40e4273485e5f0951fac32c22e4"></a>
|
||
void </td><td class="memItemRight" valign="bottom"><b>saveOptimizedPoses</b> (const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &optimizedPoses, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &lastlocalizationPose) const</td></tr>
|
||
<tr class="memdesc:ab91ad40e4273485e5f0951fac32c22e4"><td class="mdescLeft"> </td><td class="mdescRight">Persist graph-optimized poses and last localization pose. <br /></td></tr>
|
||
<tr class="separator:ab91ad40e4273485e5f0951fac32c22e4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a6ef8c39b350634d21b57b1c07b029e55" id="r_a6ef8c39b350634d21b57b1c07b029e55"><td class="memItemLeft" align="right" valign="top"><a id="a6ef8c39b350634d21b57b1c07b029e55" name="a6ef8c39b350634d21b57b1c07b029e55"></a>
|
||
std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><b>loadOptimizedPoses</b> (<a class="el" href="classrtabmap_1_1Transform.html">Transform</a> *lastlocalizationPose=0) const</td></tr>
|
||
<tr class="memdesc:a6ef8c39b350634d21b57b1c07b029e55"><td class="mdescLeft"> </td><td class="mdescRight">Load optimized poses; optional last localization pose output. <br /></td></tr>
|
||
<tr class="separator:a6ef8c39b350634d21b57b1c07b029e55"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a5bed0d1f92c1cc864dedf99b99a44037" id="r_a5bed0d1f92c1cc864dedf99b99a44037"><td class="memItemLeft" align="right" valign="top"><a id="a5bed0d1f92c1cc864dedf99b99a44037" name="a5bed0d1f92c1cc864dedf99b99a44037"></a>
|
||
void </td><td class="memItemRight" valign="bottom"><b>save2DMap</b> (const cv::Mat &map, float xMin, float yMin, float cellSize) const</td></tr>
|
||
<tr class="memdesc:a5bed0d1f92c1cc864dedf99b99a44037"><td class="mdescLeft"> </td><td class="mdescRight">Save the assembled 2D occupancy grid and its origin metadata. <br /></td></tr>
|
||
<tr class="separator:a5bed0d1f92c1cc864dedf99b99a44037"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:aa3d68850f4bb114e897e37af6b1c858a" id="r_aa3d68850f4bb114e897e37af6b1c858a"><td class="memItemLeft" align="right" valign="top"><a id="aa3d68850f4bb114e897e37af6b1c858a" name="aa3d68850f4bb114e897e37af6b1c858a"></a>
|
||
cv::Mat </td><td class="memItemRight" valign="bottom"><b>load2DMap</b> (float &xMin, float &yMin, float &cellSize) const</td></tr>
|
||
<tr class="memdesc:aa3d68850f4bb114e897e37af6b1c858a"><td class="mdescLeft"> </td><td class="mdescRight">Load the 2D map and fill origin/cell size outputs. <br /></td></tr>
|
||
<tr class="separator:aa3d68850f4bb114e897e37af6b1c858a"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a22d5643353b8d49bcc94c5a4abbc9a39" id="r_a22d5643353b8d49bcc94c5a4abbc9a39"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39">saveOptimizedMesh</a> (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const</td></tr>
|
||
<tr class="memdesc:a22d5643353b8d49bcc94c5a4abbc9a39"><td class="mdescLeft"> </td><td class="mdescRight">Persist the global optimized 3D mesh to the database. <br /></td></tr>
|
||
<tr class="separator:a22d5643353b8d49bcc94c5a4abbc9a39"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ac012fb9b51432dab5436fb6fff7fbd8a" id="r_ac012fb9b51432dab5436fb6fff7fbd8a"><td class="memItemLeft" align="right" valign="top"><a id="ac012fb9b51432dab5436fb6fff7fbd8a" name="ac012fb9b51432dab5436fb6fff7fbd8a"></a>
|
||
cv::Mat </td><td class="memItemRight" valign="bottom"><b>loadOptimizedMesh</b> (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const</td></tr>
|
||
<tr class="separator:ac012fb9b51432dab5436fb6fff7fbd8a"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a33c2abff50e61f35efbbdbe530963fea" id="r_a33c2abff50e61f35efbbdbe530963fea"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea">saveFlannIndex</a> (const std::vector< unsigned char > &indexData) const</td></tr>
|
||
<tr class="memdesc:a33c2abff50e61f35efbbdbe530963fea"><td class="mdescLeft"> </td><td class="mdescRight">Persist the visual word dictionary FLANN index (serialized blob). <br /></td></tr>
|
||
<tr class="separator:a33c2abff50e61f35efbbdbe530963fea"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr><td colspan="2"><div class="groupHeader">Connection and database introspection</div></td></tr>
|
||
<tr><td colspan="2"><div class="groupText"><p>Mutex-protected wrappers around protected <code>*Query</code>() methods. </p>
|
||
</div></td></tr>
|
||
<tr class="memitem:ac6c0a2260ba2c3cc030136c9609142f5" id="r_ac6c0a2260ba2c3cc030136c9609142f5"><td class="memItemLeft" align="right" valign="top"><a id="ac6c0a2260ba2c3cc030136c9609142f5" name="ac6c0a2260ba2c3cc030136c9609142f5"></a>
|
||
bool </td><td class="memItemRight" valign="bottom"><b>openConnection</b> (const std::string &url, bool overwritten=false, bool readOnly=false)</td></tr>
|
||
<tr class="memdesc:ac6c0a2260ba2c3cc030136c9609142f5"><td class="mdescLeft"> </td><td class="mdescRight">Open or create the database at <code>url</code> (empty <code>url</code> uses an in-memory database). <br /></td></tr>
|
||
<tr class="separator:ac6c0a2260ba2c3cc030136c9609142f5"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:abb644a203d148d0b29db41aea04c949f" id="r_abb644a203d148d0b29db41aea04c949f"><td class="memItemLeft" align="right" valign="top"><a id="abb644a203d148d0b29db41aea04c949f" name="abb644a203d148d0b29db41aea04c949f"></a>
|
||
void </td><td class="memItemRight" valign="bottom"><b>closeConnection</b> (bool save=true, const std::string &outputUrl="")</td></tr>
|
||
<tr class="memdesc:abb644a203d148d0b29db41aea04c949f"><td class="mdescLeft"> </td><td class="mdescRight">Close the connection; optionally flush trashes and save in-memory DB to <code>outputUrl</code>. <br /></td></tr>
|
||
<tr class="separator:abb644a203d148d0b29db41aea04c949f"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a7b1222cf6e75d7365b5b90c37bca2a85" id="r_a7b1222cf6e75d7365b5b90c37bca2a85"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85">isConnected</a> () const</td></tr>
|
||
<tr class="separator:a7b1222cf6e75d7365b5b90c37bca2a85"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a618043a677e3990eeb7706795bd60f6e" id="r_a618043a677e3990eeb7706795bd60f6e"><td class="memItemLeft" align="right" valign="top"><a id="a618043a677e3990eeb7706795bd60f6e" name="a618043a677e3990eeb7706795bd60f6e"></a>
|
||
unsigned long </td><td class="memItemRight" valign="bottom"><b>getMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:a618043a677e3990eeb7706795bd60f6e"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a9adb7be1463016917f24a3db5f1e8264" id="r_a9adb7be1463016917f24a3db5f1e8264"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264">getDatabaseVersion</a> () const</td></tr>
|
||
<tr class="separator:a9adb7be1463016917f24a3db5f1e8264"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ab01fce920bcfc055894e82b00e8fcb41" id="r_ab01fce920bcfc055894e82b00e8fcb41"><td class="memItemLeft" align="right" valign="top"><a id="ab01fce920bcfc055894e82b00e8fcb41" name="ab01fce920bcfc055894e82b00e8fcb41"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getNodesMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:ab01fce920bcfc055894e82b00e8fcb41"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a4e18f1e6b3b789906d9227e11d62468b" id="r_a4e18f1e6b3b789906d9227e11d62468b"><td class="memItemLeft" align="right" valign="top"><a id="a4e18f1e6b3b789906d9227e11d62468b" name="a4e18f1e6b3b789906d9227e11d62468b"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getLinksMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:a4e18f1e6b3b789906d9227e11d62468b"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:ac2d82949007b523b28ce02a293e4832c" id="r_ac2d82949007b523b28ce02a293e4832c"><td class="memItemLeft" align="right" valign="top"><a id="ac2d82949007b523b28ce02a293e4832c" name="ac2d82949007b523b28ce02a293e4832c"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getImagesMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:ac2d82949007b523b28ce02a293e4832c"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:ad13f88401a1bd493186679cd3f66478f" id="r_ad13f88401a1bd493186679cd3f66478f"><td class="memItemLeft" align="right" valign="top"><a id="ad13f88401a1bd493186679cd3f66478f" name="ad13f88401a1bd493186679cd3f66478f"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getDepthImagesMemoryUsed</b> () const</td></tr>
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||
<tr class="separator:ad13f88401a1bd493186679cd3f66478f"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a1e028b3c503d5147674589d481dd32db" id="r_a1e028b3c503d5147674589d481dd32db"><td class="memItemLeft" align="right" valign="top"><a id="a1e028b3c503d5147674589d481dd32db" name="a1e028b3c503d5147674589d481dd32db"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getCalibrationsMemoryUsed</b> () const</td></tr>
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||
<tr class="separator:a1e028b3c503d5147674589d481dd32db"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a5dfbea3149dbc7658d06424c29e13b60" id="r_a5dfbea3149dbc7658d06424c29e13b60"><td class="memItemLeft" align="right" valign="top"><a id="a5dfbea3149dbc7658d06424c29e13b60" name="a5dfbea3149dbc7658d06424c29e13b60"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getGridsMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:a5dfbea3149dbc7658d06424c29e13b60"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ace3edda0060c5e4eba2ec472ed5ad915" id="r_ace3edda0060c5e4eba2ec472ed5ad915"><td class="memItemLeft" align="right" valign="top"><a id="ace3edda0060c5e4eba2ec472ed5ad915" name="ace3edda0060c5e4eba2ec472ed5ad915"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getLaserScansMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:ace3edda0060c5e4eba2ec472ed5ad915"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:af29b2ac7474f39de793d7ad076cca904" id="r_af29b2ac7474f39de793d7ad076cca904"><td class="memItemLeft" align="right" valign="top"><a id="af29b2ac7474f39de793d7ad076cca904" name="af29b2ac7474f39de793d7ad076cca904"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getUserDataMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:af29b2ac7474f39de793d7ad076cca904"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a561c5c8e79deeafdda012a90c3b9ee1f" id="r_a561c5c8e79deeafdda012a90c3b9ee1f"><td class="memItemLeft" align="right" valign="top"><a id="a561c5c8e79deeafdda012a90c3b9ee1f" name="a561c5c8e79deeafdda012a90c3b9ee1f"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getWordsMemoryUsed</b> () const</td></tr>
|
||
<tr class="separator:a561c5c8e79deeafdda012a90c3b9ee1f"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:aab68e45bc262a6ee9f1d65be55eb79cc" id="r_aab68e45bc262a6ee9f1d65be55eb79cc"><td class="memItemLeft" align="right" valign="top"><a id="aab68e45bc262a6ee9f1d65be55eb79cc" name="aab68e45bc262a6ee9f1d65be55eb79cc"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getFeaturesMemoryUsed</b> () const</td></tr>
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||
<tr class="separator:aab68e45bc262a6ee9f1d65be55eb79cc"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a2491adf7299140eeef41f8d7e8c545f7" id="r_a2491adf7299140eeef41f8d7e8c545f7"><td class="memItemLeft" align="right" valign="top"><a id="a2491adf7299140eeef41f8d7e8c545f7" name="a2491adf7299140eeef41f8d7e8c545f7"></a>
|
||
long </td><td class="memItemRight" valign="bottom"><b>getStatisticsMemoryUsed</b> () const</td></tr>
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||
<tr class="separator:a2491adf7299140eeef41f8d7e8c545f7"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a5a587ef103249c066bdec1a5f00b84cd" id="r_a5a587ef103249c066bdec1a5f00b84cd"><td class="memItemLeft" align="right" valign="top"><a id="a5a587ef103249c066bdec1a5f00b84cd" name="a5a587ef103249c066bdec1a5f00b84cd"></a>
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||
int </td><td class="memItemRight" valign="bottom"><b>getLastNodesSize</b> () const</td></tr>
|
||
<tr class="separator:a5a587ef103249c066bdec1a5f00b84cd"><td class="memSeparator" colspan="2"> </td></tr>
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int </td><td class="memItemRight" valign="bottom"><b>getLastDictionarySize</b> () const</td></tr>
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int </td><td class="memItemRight" valign="bottom"><b>getTotalNodesSize</b> () const</td></tr>
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int </td><td class="memItemRight" valign="bottom"><b>getTotalDictionarySize</b> () const</td></tr>
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<tr class="memitem:a6e3b98f37e0d62bd25a80f7807966acd" id="r_a6e3b98f37e0d62bd25a80f7807966acd"><td class="memItemLeft" align="right" valign="top"><a id="a6e3b98f37e0d62bd25a80f7807966acd" name="a6e3b98f37e0d62bd25a80f7807966acd"></a>
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<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> </td><td class="memItemRight" valign="bottom"><b>getLastParameters</b> () const</td></tr>
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std::map< std::string, float > </td><td class="memItemRight" valign="bottom"><b>getStatistics</b> (int nodeId, double &stamp, std::vector< int > *wmState=0) const</td></tr>
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std::map< int, std::pair< std::map< std::string, float >, double > > </td><td class="memItemRight" valign="bottom"><b>getAllStatistics</b> () const</td></tr>
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<tr class="memitem:aaf5484d62a10d4ca7363f1b29036e8e4" id="r_aaf5484d62a10d4ca7363f1b29036e8e4"><td class="memItemLeft" align="right" valign="top"><a id="aaf5484d62a10d4ca7363f1b29036e8e4" name="aaf5484d62a10d4ca7363f1b29036e8e4"></a>
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std::map< int, std::vector< int > > </td><td class="memItemRight" valign="bottom"><b>getAllStatisticsWmStates</b> () const</td></tr>
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<tr><td colspan="2"><div class="groupHeader">Load and query</div></td></tr>
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<tr><td colspan="2"><div class="groupText"><p>Load signatures, words, links and node metadata from the database. </p>
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</div></td></tr>
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<tr class="memitem:a86f2fa102eb4269cd2cc6093f4b848d8" id="r_a86f2fa102eb4269cd2cc6093f4b848d8"><td class="memItemLeft" align="right" valign="top"><a id="a86f2fa102eb4269cd2cc6093f4b848d8" name="a86f2fa102eb4269cd2cc6093f4b848d8"></a>
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void </td><td class="memItemRight" valign="bottom"><b>load</b> (<a class="el" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> &dictionary, bool lastStateOnly=true, bool idsOnly=false) const</td></tr>
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<tr class="memitem:aeb034e015bb81a24b4a7dc9bc9903bb2" id="r_aeb034e015bb81a24b4a7dc9bc9903bb2"><td class="memItemLeft" align="right" valign="top"><a id="aeb034e015bb81a24b4a7dc9bc9903bb2" name="aeb034e015bb81a24b4a7dc9bc9903bb2"></a>
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void </td><td class="memItemRight" valign="bottom"><b>loadLastNodes</b> (std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures, bool loadWordIdsOnly=false) const</td></tr>
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<tr class="memitem:a0a713d7a6dabdcfbb8d733dba2a20120" id="r_a0a713d7a6dabdcfbb8d733dba2a20120"><td class="memItemLeft" align="right" valign="top"><a id="a0a713d7a6dabdcfbb8d733dba2a20120" name="a0a713d7a6dabdcfbb8d733dba2a20120"></a>
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<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * </td><td class="memItemRight" valign="bottom"><b>loadSignature</b> (int id, bool *loadedFromTrash=0)</td></tr>
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<tr class="memdesc:a0a713d7a6dabdcfbb8d733dba2a20120"><td class="mdescLeft"> </td><td class="mdescRight">Load one signature by id; caller must delete the returned pointer. <br /></td></tr>
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<tr class="memitem:aedd6cce596ad8f6693a3ff412f375f1f" id="r_aedd6cce596ad8f6693a3ff412f375f1f"><td class="memItemLeft" align="right" valign="top"><a id="aedd6cce596ad8f6693a3ff412f375f1f" name="aedd6cce596ad8f6693a3ff412f375f1f"></a>
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void </td><td class="memItemRight" valign="bottom"><b>loadSignatures</b> (const std::list< int > &ids, std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures, std::set< int > *loadedFromTrash=0, bool loadWordIdsOnly=false)</td></tr>
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<tr class="memitem:abe5837cd7a9544113de53b9b9f072d4a" id="r_abe5837cd7a9544113de53b9b9f072d4a"><td class="memItemLeft" align="right" valign="top"><a id="abe5837cd7a9544113de53b9b9f072d4a" name="abe5837cd7a9544113de53b9b9f072d4a"></a>
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void </td><td class="memItemRight" valign="bottom"><b>loadWords</b> (const std::set< int > &wordIds, std::list< <a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * > &vws)</td></tr>
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void </td><td class="memItemRight" valign="bottom"><b>loadNodeData</b> (<a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const</td></tr>
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<tr class="memitem:aafe9f077eb93b63b1a61017af1287c9a" id="r_aafe9f077eb93b63b1a61017af1287c9a"><td class="memItemLeft" align="right" valign="top"><a id="aafe9f077eb93b63b1a61017af1287c9a" name="aafe9f077eb93b63b1a61017af1287c9a"></a>
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||
void </td><td class="memItemRight" valign="bottom"><b>loadNodeData</b> (std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const</td></tr>
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void </td><td class="memItemRight" valign="bottom"><b>getNodeData</b> (int signatureId, <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const</td></tr>
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<tr class="memitem:a6f97d302ead75f54be80947864be1f7a" id="r_a6f97d302ead75f54be80947864be1f7a"><td class="memItemLeft" align="right" valign="top"><a id="a6f97d302ead75f54be80947864be1f7a" name="a6f97d302ead75f54be80947864be1f7a"></a>
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bool </td><td class="memItemRight" valign="bottom"><b>getCalibration</b> (int signatureId, std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > &models, std::vector< <a class="el" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> > &stereoModels) const</td></tr>
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<tr class="memitem:ad69ff590647bf2fa43980b3b07d5af2d" id="r_ad69ff590647bf2fa43980b3b07d5af2d"><td class="memItemLeft" align="right" valign="top"><a id="ad69ff590647bf2fa43980b3b07d5af2d" name="ad69ff590647bf2fa43980b3b07d5af2d"></a>
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bool </td><td class="memItemRight" valign="bottom"><b>getLaserScanInfo</b> (int signatureId, <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &info) const</td></tr>
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<tr class="memitem:a964959deeb8effabec6b1377925f1f41" id="r_a964959deeb8effabec6b1377925f1f41"><td class="memItemLeft" align="right" valign="top"><a id="a964959deeb8effabec6b1377925f1f41" name="a964959deeb8effabec6b1377925f1f41"></a>
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bool </td><td class="memItemRight" valign="bottom"><b>getNodeInfo</b> (int signatureId, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &pose, int &mapId, int &weight, std::string &label, double &stamp, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &groundTruthPose, std::vector< float > &velocity, <a class="el" href="classrtabmap_1_1GPS.html">GPS</a> &gps, <a class="el" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &sensors) const</td></tr>
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<tr class="memitem:a28d67e0d43ead127bb93a7eff5e377b0" id="r_a28d67e0d43ead127bb93a7eff5e377b0"><td class="memItemLeft" align="right" valign="top"><a id="a28d67e0d43ead127bb93a7eff5e377b0" name="a28d67e0d43ead127bb93a7eff5e377b0"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getLocalFeatures</b> (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const</td></tr>
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<tr class="memitem:aab00d50127b8b5bb92f8605e35aaca4d" id="r_aab00d50127b8b5bb92f8605e35aaca4d"><td class="memItemLeft" align="right" valign="top"><a id="aab00d50127b8b5bb92f8605e35aaca4d" name="aab00d50127b8b5bb92f8605e35aaca4d"></a>
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void </td><td class="memItemRight" valign="bottom"><b>loadLinks</b> (int signatureId, std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type=<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>) const</td></tr>
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||
<tr class="memdesc:aab00d50127b8b5bb92f8605e35aaca4d"><td class="mdescLeft"> </td><td class="mdescRight">Load outgoing links from <code>signatureId</code>, optionally filtered by <code>type</code>. <br /></td></tr>
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<tr class="separator:aab00d50127b8b5bb92f8605e35aaca4d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab3d5cf217da174f6c7d038ff64408a21" id="r_ab3d5cf217da174f6c7d038ff64408a21"><td class="memItemLeft" align="right" valign="top"><a id="ab3d5cf217da174f6c7d038ff64408a21" name="ab3d5cf217da174f6c7d038ff64408a21"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getWeight</b> (int signatureId, int &weight) const</td></tr>
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<tr class="separator:ab3d5cf217da174f6c7d038ff64408a21"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a952f8efa1f34b1f8bbce96b36c2fa371" id="r_a952f8efa1f34b1f8bbce96b36c2fa371"><td class="memItemLeft" align="right" valign="top"><a id="a952f8efa1f34b1f8bbce96b36c2fa371" name="a952f8efa1f34b1f8bbce96b36c2fa371"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getLastNodeIds</b> (std::set< int > &ids) const</td></tr>
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<tr class="separator:a952f8efa1f34b1f8bbce96b36c2fa371"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aebe66df25ecbd37437dadb5ec0588ffa" id="r_aebe66df25ecbd37437dadb5ec0588ffa"><td class="memItemLeft" align="right" valign="top"><a id="aebe66df25ecbd37437dadb5ec0588ffa" name="aebe66df25ecbd37437dadb5ec0588ffa"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getAllNodeIds</b> (std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false, bool ignoreIntermediateNodes=false) const</td></tr>
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<tr class="memitem:ae17b06f603d813a01122cad5414ace3e" id="r_ae17b06f603d813a01122cad5414ace3e"><td class="memItemLeft" align="right" valign="top"><a id="ae17b06f603d813a01122cad5414ace3e" name="ae17b06f603d813a01122cad5414ace3e"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getAllOdomPoses</b> (std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, bool ignoreChildren=false, bool ignoreIntermediateNodes=false) const</td></tr>
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<tr class="memitem:a6b8ac5c830686b6a666d0ecf01b569f1" id="r_a6b8ac5c830686b6a666d0ecf01b569f1"><td class="memItemLeft" align="right" valign="top"><a id="a6b8ac5c830686b6a666d0ecf01b569f1" name="a6b8ac5c830686b6a666d0ecf01b569f1"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getAllLinks</b> (std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, bool ignoreNullLinks=true, bool withLandmarks=false) const</td></tr>
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<tr class="separator:a6b8ac5c830686b6a666d0ecf01b569f1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a51effc2b152b177fa9f91d219487ff0e" id="r_a51effc2b152b177fa9f91d219487ff0e"><td class="memItemLeft" align="right" valign="top"><a id="a51effc2b152b177fa9f91d219487ff0e" name="a51effc2b152b177fa9f91d219487ff0e"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getLastNodeId</b> (int &id) const</td></tr>
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<tr class="separator:a51effc2b152b177fa9f91d219487ff0e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aba43b53a98817d34015a19850ead770f" id="r_aba43b53a98817d34015a19850ead770f"><td class="memItemLeft" align="right" valign="top"><a id="aba43b53a98817d34015a19850ead770f" name="aba43b53a98817d34015a19850ead770f"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getLastMapId</b> (int &mapId) const</td></tr>
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<tr class="memitem:acd7bd8d39e782633f8146cb322f12082" id="r_acd7bd8d39e782633f8146cb322f12082"><td class="memItemLeft" align="right" valign="top"><a id="acd7bd8d39e782633f8146cb322f12082" name="acd7bd8d39e782633f8146cb322f12082"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getLastWordId</b> (int &id) const</td></tr>
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<tr class="separator:acd7bd8d39e782633f8146cb322f12082"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:adbf2871e1f6811a462cc9b540a83c835" id="r_adbf2871e1f6811a462cc9b540a83c835"><td class="memItemLeft" align="right" valign="top"><a id="adbf2871e1f6811a462cc9b540a83c835" name="adbf2871e1f6811a462cc9b540a83c835"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getInvertedIndexNi</b> (int signatureId, int &ni) const</td></tr>
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<tr class="memitem:ade0e3efdb1616b95e08e1ac87ec56505" id="r_ade0e3efdb1616b95e08e1ac87ec56505"><td class="memItemLeft" align="right" valign="top"><a id="ade0e3efdb1616b95e08e1ac87ec56505" name="ade0e3efdb1616b95e08e1ac87ec56505"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getNodesObservingLandmark</b> (int landmarkId, std::map< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &nodes) const</td></tr>
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<tr class="separator:ade0e3efdb1616b95e08e1ac87ec56505"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac5e8f1fae336521636e7a4225ac9cd3e" id="r_ac5e8f1fae336521636e7a4225ac9cd3e"><td class="memItemLeft" align="right" valign="top"><a id="ac5e8f1fae336521636e7a4225ac9cd3e" name="ac5e8f1fae336521636e7a4225ac9cd3e"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getNodeIdByLabel</b> (const std::string &label, int &id) const</td></tr>
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<tr class="memitem:a29c0a104f08c19a1bd5d8c577204915d" id="r_a29c0a104f08c19a1bd5d8c577204915d"><td class="memItemLeft" align="right" valign="top"><a id="a29c0a104f08c19a1bd5d8c577204915d" name="a29c0a104f08c19a1bd5d8c577204915d"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getAllLabels</b> (std::map< int, std::string > &labels) const</td></tr>
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<tr class="separator:a29c0a104f08c19a1bd5d8c577204915d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThread')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
|
||
<tr class="memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id="r_a05a92f95e2a8900f27b09ddf907b97be"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a05a92f95e2a8900f27b09ddf907b97be">UThread</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority=kPNormal)</td></tr>
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||
<tr class="separator:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" id="r_a437580d224111e60cbe2626f0e4cb12e"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a437580d224111e60cbe2626f0e4cb12e">~UThread</a> ()</td></tr>
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<tr class="separator:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" id="r_a051e9adcf24f92b9c8e31acd06bad88c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c">start</a> ()</td></tr>
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<tr class="separator:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" id="r_a8dfefcfd68b453da08ddba9836f35965"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a8dfefcfd68b453da08ddba9836f35965">kill</a> ()</td></tr>
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<tr class="separator:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" id="r_acf33c0e4b656af76da100e7d4f69ed1d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d">join</a> (bool killFirst=false)</td></tr>
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||
<tr class="separator:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" id="r_a80418be3a80a01ddd05a863b58787b43"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a80418be3a80a01ddd05a863b58787b43">setPriority</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority)</td></tr>
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<tr class="separator:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" id="r_aabcf31acae6ca5b8503ec320acbc11f8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8">setAffinity</a> (int cpu=0)</td></tr>
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||
<tr class="separator:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" id="r_ac80eff7d48382fd230141ca286370d33"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#ac80eff7d48382fd230141ca286370d33">isCreating</a> () const</td></tr>
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<tr class="separator:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" id="r_a38e2b22f0616ed4128312baff9cfeba9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a38e2b22f0616ed4128312baff9cfeba9">isRunning</a> () const</td></tr>
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<tr class="separator:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" id="r_a2c4554ad881c0532239a0930c2ebfe24"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">isIdle</a> () const</td></tr>
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<tr class="separator:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" id="r_a3a0d0de0f78eab72512941ccd048477b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a3a0d0de0f78eab72512941ccd048477b">isKilled</a> () const</td></tr>
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<tr class="separator:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" id="r_a4f404f03046fa89dced06514f040b2af"><td class="memItemLeft" align="right" valign="top">Handle </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a4f404f03046fa89dced06514f040b2af">getThreadHandle</a> () const</td></tr>
|
||
<tr class="separator:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread" id="r_a40e8ea82c06ed20bb6266a6a42a8f51f"><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a40e8ea82c06ed20bb6266a6a42a8f51f">getThreadId</a> () const</td></tr>
|
||
<tr class="separator:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="inherit_header pub_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
|
||
<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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||
<tr class="separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a5af5c76be4b8e6b746a77146a3d7021a"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a">Create</a> (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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||
<tr class="separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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||
<tr class="separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a5af5c76be4b8e6b746a77146a3d7021a"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a">Create</a> (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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||
<tr class="separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
</table><table class="memberdecls">
|
||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
|
||
Static Public Member Functions</h2></td></tr>
|
||
<tr class="memitem:a1f75e440b35243ccad645052bc4a12f9" id="r_a1f75e440b35243ccad645052bc4a12f9"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9">create</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
|
||
<tr class="memdesc:a1f75e440b35243ccad645052bc4a12f9"><td class="mdescLeft"> </td><td class="mdescRight">Factory: returns a SQLite database driver (<a class="el" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a>). <br /></td></tr>
|
||
<tr class="separator:a1f75e440b35243ccad645052bc4a12f9"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="inherit_header pub_static_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThread')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
|
||
<tr class="memitem:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" id="r_a6fa5e2358a86c5185371fd14305021aa"><td class="memItemLeft" align="right" valign="top">static unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a6fa5e2358a86c5185371fd14305021aa">currentThreadId</a> ()</td></tr>
|
||
<tr class="separator:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="inherit_header pub_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
|
||
<tr class="memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a17eb99ec0990246c0c7161e6bec84c74"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74">Create</a> (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)</td></tr>
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||
<tr class="separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a1584a3a80d86181ff66784cf0f8c2392"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a1584a3a80d86181ff66784cf0f8c2392">Join</a> (Handle H)</td></tr>
|
||
<tr class="separator:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_aec2af3352538bb8e45916c468e6960dc"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#aec2af3352538bb8e45916c468e6960dc">Kill</a> (Handle H)</td></tr>
|
||
<tr class="separator:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a591f5bfcea463cfaa2249bbcdd3ab522"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a591f5bfcea463cfaa2249bbcdd3ab522">Detach</a> (Handle H)</td></tr>
|
||
<tr class="separator:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a17eb99ec0990246c0c7161e6bec84c74"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74">Create</a> (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)</td></tr>
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||
<tr class="separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a1d704989d9a19f552ac0387c143cad95"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a1d704989d9a19f552ac0387c143cad95">Join</a> (const Handle &H)</td></tr>
|
||
<tr class="separator:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a4a83aaa66db8ee6f07482130091690e3"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a4a83aaa66db8ee6f07482130091690e3">Kill</a> (const Handle &H)</td></tr>
|
||
<tr class="separator:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a094155ec7163e19480ed2181ef8032ed"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a094155ec7163e19480ed2181ef8032ed">Detach</a> (const Handle &H)</td></tr>
|
||
<tr class="separator:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
</table><table class="memberdecls">
|
||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
|
||
Protected Member Functions</h2></td></tr>
|
||
<tr class="memitem:a5f90eb62bb559d42611dbe7ffe11328e" id="r_a5f90eb62bb559d42611dbe7ffe11328e"><td class="memItemLeft" align="right" valign="top"><a id="a5f90eb62bb559d42611dbe7ffe11328e" name="a5f90eb62bb559d42611dbe7ffe11328e"></a>
|
||
 </td><td class="memItemRight" valign="bottom"><b>DBDriver</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
|
||
<tr class="memdesc:a5f90eb62bb559d42611dbe7ffe11328e"><td class="mdescLeft"> </td><td class="mdescRight">Protected constructor for subclasses. <br /></td></tr>
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||
<tr class="separator:a5f90eb62bb559d42611dbe7ffe11328e"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr><td colspan="2"><div class="groupHeader">Backend implementation (subclass responsibility)</div></td></tr>
|
||
<tr><td colspan="2"><div class="groupText"><p>Pure virtual SQL/backend hooks invoked by public wrappers above.</p>
|
||
<p>These are called with <code>_dbSafeAccessMutex</code> locked. Implementations must not call public methods that look in the trash (they lock <code>_trashesMutex</code>), as it would invert the lock order used by <a class="el" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a" title="Flush queued signatures and visual words to the database.">emptyTrashes()</a> and could deadlock. Call the corresponding <code>*Query</code>() method directly instead (e.g., getLastIdQuery("Word", id) instead of getLastWordId(id)). </p>
|
||
</div></td></tr>
|
||
<tr class="memitem:ad26be8fe4acdd961b33d1c459a6c3379" id="r_ad26be8fe4acdd961b33d1c459a6c3379"><td class="memItemLeft" align="right" valign="top"><a id="ad26be8fe4acdd961b33d1c459a6c3379" name="ad26be8fe4acdd961b33d1c459a6c3379"></a>
|
||
virtual bool </td><td class="memItemRight" valign="bottom"><b>connectDatabaseQuery</b> (const std::string &url, bool overwritten=false, bool readOnly=false)=0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>disconnectDatabaseQuery</b> (bool save=true, const std::string &outputUrl="")=0</td></tr>
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virtual bool </td><td class="memItemRight" valign="bottom"><b>isConnectedQuery</b> () const =0</td></tr>
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virtual unsigned long </td><td class="memItemRight" valign="bottom"><b>getMemoryUsedQuery</b> () const =0</td></tr>
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virtual bool </td><td class="memItemRight" valign="bottom"><b>getDatabaseVersionQuery</b> (std::string &version) const =0</td></tr>
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<tr class="memitem:a8e2f091b1a3560040fd266acc194a342" id="r_a8e2f091b1a3560040fd266acc194a342"><td class="memItemLeft" align="right" valign="top"><a id="a8e2f091b1a3560040fd266acc194a342" name="a8e2f091b1a3560040fd266acc194a342"></a>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getNodesMemoryUsedQuery</b> () const =0</td></tr>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getLinksMemoryUsedQuery</b> () const =0</td></tr>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getImagesMemoryUsedQuery</b> () const =0</td></tr>
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<tr class="memitem:abe05bcf9bd204856b8c26a4de36b64fa" id="r_abe05bcf9bd204856b8c26a4de36b64fa"><td class="memItemLeft" align="right" valign="top"><a id="abe05bcf9bd204856b8c26a4de36b64fa" name="abe05bcf9bd204856b8c26a4de36b64fa"></a>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getDepthImagesMemoryUsedQuery</b> () const =0</td></tr>
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<tr class="memitem:aa2482c506c028af1684d44e162a53e5c" id="r_aa2482c506c028af1684d44e162a53e5c"><td class="memItemLeft" align="right" valign="top"><a id="aa2482c506c028af1684d44e162a53e5c" name="aa2482c506c028af1684d44e162a53e5c"></a>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getCalibrationsMemoryUsedQuery</b> () const =0</td></tr>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getGridsMemoryUsedQuery</b> () const =0</td></tr>
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<tr class="memitem:a248f90e1e9b574fed13826e808f49594" id="r_a248f90e1e9b574fed13826e808f49594"><td class="memItemLeft" align="right" valign="top"><a id="a248f90e1e9b574fed13826e808f49594" name="a248f90e1e9b574fed13826e808f49594"></a>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getLaserScansMemoryUsedQuery</b> () const =0</td></tr>
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<tr class="memitem:a036fa10f8e92580b611d6ec08509fc94" id="r_a036fa10f8e92580b611d6ec08509fc94"><td class="memItemLeft" align="right" valign="top"><a id="a036fa10f8e92580b611d6ec08509fc94" name="a036fa10f8e92580b611d6ec08509fc94"></a>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getUserDataMemoryUsedQuery</b> () const =0</td></tr>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getWordsMemoryUsedQuery</b> () const =0</td></tr>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getFeaturesMemoryUsedQuery</b> () const =0</td></tr>
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<tr class="memitem:a56cfc1d393982d587e385e0dc4ed1687" id="r_a56cfc1d393982d587e385e0dc4ed1687"><td class="memItemLeft" align="right" valign="top"><a id="a56cfc1d393982d587e385e0dc4ed1687" name="a56cfc1d393982d587e385e0dc4ed1687"></a>
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virtual long </td><td class="memItemRight" valign="bottom"><b>getStatisticsMemoryUsedQuery</b> () const =0</td></tr>
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<tr class="memitem:a13c56a9fc9bc141bb353fa859dd3df07" id="r_a13c56a9fc9bc141bb353fa859dd3df07"><td class="memItemLeft" align="right" valign="top"><a id="a13c56a9fc9bc141bb353fa859dd3df07" name="a13c56a9fc9bc141bb353fa859dd3df07"></a>
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virtual int </td><td class="memItemRight" valign="bottom"><b>getLastNodesSizeQuery</b> () const =0</td></tr>
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<tr class="memitem:ac32cf7ef31c75ffcaece1d2f98928996" id="r_ac32cf7ef31c75ffcaece1d2f98928996"><td class="memItemLeft" align="right" valign="top"><a id="ac32cf7ef31c75ffcaece1d2f98928996" name="ac32cf7ef31c75ffcaece1d2f98928996"></a>
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virtual int </td><td class="memItemRight" valign="bottom"><b>getLastDictionarySizeQuery</b> () const =0</td></tr>
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<tr class="memitem:ad207fdbbc410435236b58a39744c7b8e" id="r_ad207fdbbc410435236b58a39744c7b8e"><td class="memItemLeft" align="right" valign="top"><a id="ad207fdbbc410435236b58a39744c7b8e" name="ad207fdbbc410435236b58a39744c7b8e"></a>
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virtual int </td><td class="memItemRight" valign="bottom"><b>getTotalNodesSizeQuery</b> () const =0</td></tr>
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<tr class="memitem:a8a95a9b7db5e7446ef71c044b23a2f8f" id="r_a8a95a9b7db5e7446ef71c044b23a2f8f"><td class="memItemLeft" align="right" valign="top"><a id="a8a95a9b7db5e7446ef71c044b23a2f8f" name="a8a95a9b7db5e7446ef71c044b23a2f8f"></a>
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virtual int </td><td class="memItemRight" valign="bottom"><b>getTotalDictionarySizeQuery</b> () const =0</td></tr>
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<tr class="memitem:aa09fe90a3559e90035ab1cfba8467b4c" id="r_aa09fe90a3559e90035ab1cfba8467b4c"><td class="memItemLeft" align="right" valign="top"><a id="aa09fe90a3559e90035ab1cfba8467b4c" name="aa09fe90a3559e90035ab1cfba8467b4c"></a>
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virtual <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> </td><td class="memItemRight" valign="bottom"><b>getLastParametersQuery</b> () const =0</td></tr>
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<tr class="memitem:ae9263b9879e4d1a9f02a4ce38b98d24b" id="r_ae9263b9879e4d1a9f02a4ce38b98d24b"><td class="memItemLeft" align="right" valign="top"><a id="ae9263b9879e4d1a9f02a4ce38b98d24b" name="ae9263b9879e4d1a9f02a4ce38b98d24b"></a>
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virtual std::map< std::string, float > </td><td class="memItemRight" valign="bottom"><b>getStatisticsQuery</b> (int nodeId, double &stamp, std::vector< int > *wmState) const =0</td></tr>
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<tr class="memitem:a089a21e79dba34d9c1f5afae35cfe332" id="r_a089a21e79dba34d9c1f5afae35cfe332"><td class="memItemLeft" align="right" valign="top"><a id="a089a21e79dba34d9c1f5afae35cfe332" name="a089a21e79dba34d9c1f5afae35cfe332"></a>
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virtual std::map< int, std::pair< std::map< std::string, float >, double > > </td><td class="memItemRight" valign="bottom"><b>getAllStatisticsQuery</b> () const =0</td></tr>
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||
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<tr class="memitem:a1be56da314987f63a5b571a815d46038" id="r_a1be56da314987f63a5b571a815d46038"><td class="memItemLeft" align="right" valign="top"><a id="a1be56da314987f63a5b571a815d46038" name="a1be56da314987f63a5b571a815d46038"></a>
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||
virtual std::map< int, std::vector< int > > </td><td class="memItemRight" valign="bottom"><b>getAllStatisticsWmStatesQuery</b> () const =0</td></tr>
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<tr class="memitem:aedc3f1af9bf45e93458674e9c748b3a7" id="r_aedc3f1af9bf45e93458674e9c748b3a7"><td class="memItemLeft" align="right" valign="top"><a id="aedc3f1af9bf45e93458674e9c748b3a7" name="aedc3f1af9bf45e93458674e9c748b3a7"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>executeNoResultQuery</b> (const std::string &sql) const =0</td></tr>
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<tr class="memitem:a48ce6289b1d35e73da28cca5e9cfaf3f" id="r_a48ce6289b1d35e73da28cca5e9cfaf3f"><td class="memItemLeft" align="right" valign="top"><a id="a48ce6289b1d35e73da28cca5e9cfaf3f" name="a48ce6289b1d35e73da28cca5e9cfaf3f"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getWeightQuery</b> (int signatureId, int &weight) const =0</td></tr>
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<tr class="memitem:ae6b56ad911296d1e23b921081c5963f8" id="r_ae6b56ad911296d1e23b921081c5963f8"><td class="memItemLeft" align="right" valign="top"><a id="ae6b56ad911296d1e23b921081c5963f8" name="ae6b56ad911296d1e23b921081c5963f8"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>saveQuery</b> (const std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures)=0</td></tr>
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<tr class="memitem:abd880c291203a9b26e3e27d2732d6ecd" id="r_abd880c291203a9b26e3e27d2732d6ecd"><td class="memItemLeft" align="right" valign="top"><a id="abd880c291203a9b26e3e27d2732d6ecd" name="abd880c291203a9b26e3e27d2732d6ecd"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>saveQuery</b> (const std::list< <a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * > &words) const =0</td></tr>
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<tr class="memitem:aef6afd53ae425e7042c4408dc8be6da7" id="r_aef6afd53ae425e7042c4408dc8be6da7"><td class="memItemLeft" align="right" valign="top"><a id="aef6afd53ae425e7042c4408dc8be6da7" name="aef6afd53ae425e7042c4408dc8be6da7"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>updateQuery</b> (const std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures, bool updateTimestamp) const =0</td></tr>
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<tr class="memitem:aa22fd347c480b5b701fcb198e10d084a" id="r_aa22fd347c480b5b701fcb198e10d084a"><td class="memItemLeft" align="right" valign="top"><a id="aa22fd347c480b5b701fcb198e10d084a" name="aa22fd347c480b5b701fcb198e10d084a"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>updateQuery</b> (const std::list< <a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * > &words, bool updateTimestamp) const =0</td></tr>
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<tr class="memitem:a86c808af5987483c9ee058088150a2f0" id="r_a86c808af5987483c9ee058088150a2f0"><td class="memItemLeft" align="right" valign="top"><a id="a86c808af5987483c9ee058088150a2f0" name="a86c808af5987483c9ee058088150a2f0"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>addLinkQuery</b> (const <a class="el" href="classrtabmap_1_1Link.html">Link</a> &link) const =0</td></tr>
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||
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<tr class="memitem:a7e8e9f1798f7850cba3fc27608ff2d59" id="r_a7e8e9f1798f7850cba3fc27608ff2d59"><td class="memItemLeft" align="right" valign="top"><a id="a7e8e9f1798f7850cba3fc27608ff2d59" name="a7e8e9f1798f7850cba3fc27608ff2d59"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>updateLinkQuery</b> (const <a class="el" href="classrtabmap_1_1Link.html">Link</a> &link) const =0</td></tr>
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||
<tr class="separator:a7e8e9f1798f7850cba3fc27608ff2d59"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:ae65083e1ba90963b1d85237ae640f583" id="r_ae65083e1ba90963b1d85237ae640f583"><td class="memItemLeft" align="right" valign="top"><a id="ae65083e1ba90963b1d85237ae640f583" name="ae65083e1ba90963b1d85237ae640f583"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>updateOccupancyGridQuery</b> (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint) const =0</td></tr>
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||
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<tr class="memitem:afcec2e9e0bf093936e403d4ea6dbd1bf" id="r_afcec2e9e0bf093936e403d4ea6dbd1bf"><td class="memItemLeft" align="right" valign="top"><a id="afcec2e9e0bf093936e403d4ea6dbd1bf" name="afcec2e9e0bf093936e403d4ea6dbd1bf"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>updateCalibrationQuery</b> (int nodeId, const std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > &models, const std::vector< <a class="el" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> > &stereoModels) const =0</td></tr>
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||
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||
<tr class="memitem:aca19d9638a0f8d990dd3b959701d7eb1" id="r_aca19d9638a0f8d990dd3b959701d7eb1"><td class="memItemLeft" align="right" valign="top"><a id="aca19d9638a0f8d990dd3b959701d7eb1" name="aca19d9638a0f8d990dd3b959701d7eb1"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>updateDepthImageQuery</b> (int nodeId, const cv::Mat &image, const std::string &format) const =0</td></tr>
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||
<tr class="memitem:af3b5e3effa145b99bd25fb8a7a70450c" id="r_af3b5e3effa145b99bd25fb8a7a70450c"><td class="memItemLeft" align="right" valign="top"><a id="af3b5e3effa145b99bd25fb8a7a70450c" name="af3b5e3effa145b99bd25fb8a7a70450c"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>updateLaserScanQuery</b> (int nodeId, const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &scan) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>addStatisticsQuery</b> (const <a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a> &statistics, bool saveWmState) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>savePreviewImageQuery</b> (const cv::Mat &image) const =0</td></tr>
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virtual cv::Mat </td><td class="memItemRight" valign="bottom"><b>loadPreviewImageQuery</b> () const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>saveOptimizedPosesQuery</b> (const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &optimizedPoses, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &lastlocalizationPose) const =0</td></tr>
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virtual std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><b>loadOptimizedPosesQuery</b> (<a class="el" href="classrtabmap_1_1Transform.html">Transform</a> *lastlocalizationPose=0) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>save2DMapQuery</b> (const cv::Mat &map, float xMin, float yMin, float cellSize) const =0</td></tr>
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virtual cv::Mat </td><td class="memItemRight" valign="bottom"><b>load2DMapQuery</b> (float &xMin, float &yMin, float &cellSize) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>saveOptimizedMeshQuery</b> (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, const cv::Mat &textures) const =0</td></tr>
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virtual cv::Mat </td><td class="memItemRight" valign="bottom"><b>loadOptimizedMeshQuery</b> (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons, std::vector< std::vector< Eigen::Vector2f > > *texCoords, cv::Mat *textures) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>saveFlannIndexQuery</b> (const std::vector< unsigned char > &indexData) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>loadQuery</b> (<a class="el" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> &dictionary, bool lastStateOnly=true, bool idsOnly=false) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>loadLastNodesQuery</b> (std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures, bool loadWordIdsOnly) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>loadSignaturesQuery</b> (const std::list< int > &ids, std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures, bool loadWordIdsOnly) const =0</td></tr>
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<tr class="memitem:ada1a2add5977feb1a197b64946d982fe" id="r_ada1a2add5977feb1a197b64946d982fe"><td class="memItemLeft" align="right" valign="top"><a id="ada1a2add5977feb1a197b64946d982fe" name="ada1a2add5977feb1a197b64946d982fe"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>loadWordsQuery</b> (const std::set< int > &wordIds, std::list< <a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * > &vws) const =0</td></tr>
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<tr class="memitem:a905e2ec8c1029c6704145cbbe1a61e81" id="r_a905e2ec8c1029c6704145cbbe1a61e81"><td class="memItemLeft" align="right" valign="top"><a id="a905e2ec8c1029c6704145cbbe1a61e81" name="a905e2ec8c1029c6704145cbbe1a61e81"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>loadLinksQuery</b> (int signatureId, std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type=<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>loadNodeDataQuery</b> (std::list< <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const =0</td></tr>
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<tr class="memitem:ae80144aef3b826748ad2363d2e43451c" id="r_ae80144aef3b826748ad2363d2e43451c"><td class="memItemLeft" align="right" valign="top"><a id="ae80144aef3b826748ad2363d2e43451c" name="ae80144aef3b826748ad2363d2e43451c"></a>
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virtual bool </td><td class="memItemRight" valign="bottom"><b>getCalibrationQuery</b> (int signatureId, std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > &models, std::vector< <a class="el" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> > &stereoModels) const =0</td></tr>
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<tr class="memitem:ae2f60adc81a30ab3aa5b8644c37e2f65" id="r_ae2f60adc81a30ab3aa5b8644c37e2f65"><td class="memItemLeft" align="right" valign="top"><a id="ae2f60adc81a30ab3aa5b8644c37e2f65" name="ae2f60adc81a30ab3aa5b8644c37e2f65"></a>
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virtual bool </td><td class="memItemRight" valign="bottom"><b>getLaserScanInfoQuery</b> (int signatureId, <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &info) const =0</td></tr>
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<tr class="memitem:a9eada5e7b9c478a15b3a4428c7df8aac" id="r_a9eada5e7b9c478a15b3a4428c7df8aac"><td class="memItemLeft" align="right" valign="top"><a id="a9eada5e7b9c478a15b3a4428c7df8aac" name="a9eada5e7b9c478a15b3a4428c7df8aac"></a>
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virtual bool </td><td class="memItemRight" valign="bottom"><b>getNodeInfoQuery</b> (int signatureId, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &pose, int &mapId, int &weight, std::string &label, double &stamp, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &groundTruthPose, std::vector< float > &velocity, <a class="el" href="classrtabmap_1_1GPS.html">GPS</a> &gps, <a class="el" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &sensors) const =0</td></tr>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getLocalFeaturesQuery</b> (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const =0</td></tr>
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<tr class="memitem:a64b3988a6c5552f2e820dad7f1e2350d" id="r_a64b3988a6c5552f2e820dad7f1e2350d"><td class="memItemLeft" align="right" valign="top"><a id="a64b3988a6c5552f2e820dad7f1e2350d" name="a64b3988a6c5552f2e820dad7f1e2350d"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getLastNodeIdsQuery</b> (std::set< int > &ids) const =0</td></tr>
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<tr class="memitem:a7a469523d1d132a2d85b001b653cbeec" id="r_a7a469523d1d132a2d85b001b653cbeec"><td class="memItemLeft" align="right" valign="top"><a id="a7a469523d1d132a2d85b001b653cbeec" name="a7a469523d1d132a2d85b001b653cbeec"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getAllNodeIdsQuery</b> (std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const =0</td></tr>
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<tr class="memitem:af3d020ffa5dc515969562f2148c77616" id="r_af3d020ffa5dc515969562f2148c77616"><td class="memItemLeft" align="right" valign="top"><a id="af3d020ffa5dc515969562f2148c77616" name="af3d020ffa5dc515969562f2148c77616"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getAllOdomPosesQuery</b> (std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, bool ignoreChildren, bool ignoreIntermediateNodes) const =0</td></tr>
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<tr class="memitem:ac40e8ddb4de755c77af3d0a18b580ddd" id="r_ac40e8ddb4de755c77af3d0a18b580ddd"><td class="memItemLeft" align="right" valign="top"><a id="ac40e8ddb4de755c77af3d0a18b580ddd" name="ac40e8ddb4de755c77af3d0a18b580ddd"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getAllLinksQuery</b> (std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, bool ignoreNullLinks, bool withLandmarks) const =0</td></tr>
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||
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<tr class="memitem:aa1fe877cef0082829098c0248f584073" id="r_aa1fe877cef0082829098c0248f584073"><td class="memItemLeft" align="right" valign="top"><a id="aa1fe877cef0082829098c0248f584073" name="aa1fe877cef0082829098c0248f584073"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>getLastIdQuery</b> (const std::string &tableName, int &id, const std::string &fieldName="id") const =0</td></tr>
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<tr class="memitem:ad154b0744a10c57a2914c0628fc51cb8" id="r_ad154b0744a10c57a2914c0628fc51cb8"><td class="memItemLeft" align="right" valign="top"><a id="ad154b0744a10c57a2914c0628fc51cb8" name="ad154b0744a10c57a2914c0628fc51cb8"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getInvertedIndexNiQuery</b> (int signatureId, int &ni) const =0</td></tr>
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<tr class="memitem:a2d222c0c27d74217483b1de07cbf3a69" id="r_a2d222c0c27d74217483b1de07cbf3a69"><td class="memItemLeft" align="right" valign="top"><a id="a2d222c0c27d74217483b1de07cbf3a69" name="a2d222c0c27d74217483b1de07cbf3a69"></a>
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||
virtual void </td><td class="memItemRight" valign="bottom"><b>getNodesObservingLandmarkQuery</b> (int landmarkId, std::map< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &nodes) const =0</td></tr>
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||
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<tr class="memitem:a13305cb7202d0770472884ca848e74e3" id="r_a13305cb7202d0770472884ca848e74e3"><td class="memItemLeft" align="right" valign="top"><a id="a13305cb7202d0770472884ca848e74e3" name="a13305cb7202d0770472884ca848e74e3"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getNodeIdByLabelQuery</b> (const std::string &label, int &id) const =0</td></tr>
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<tr class="memitem:a62e59283e1cf8f042bc21e565db4418e" id="r_a62e59283e1cf8f042bc21e565db4418e"><td class="memItemLeft" align="right" valign="top"><a id="a62e59283e1cf8f042bc21e565db4418e" name="a62e59283e1cf8f042bc21e565db4418e"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>getAllLabelsQuery</b> (std::map< int, std::string > &labels) const =0</td></tr>
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||
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||
</table><table class="memberdecls">
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||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
|
||
Additional Inherited Members</h2></td></tr>
|
||
<tr class="inherit_header pub_types_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThread')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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||
<tr class="memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id="r_a731ef4dd5a8d15abcc06e7cfa53cd153"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> { <br />
|
||
  <b>kPLow</b>
|
||
, <b>kPBelowNormal</b>
|
||
, <b>kPNormal</b>
|
||
, <b>kPAboveNormal</b>
|
||
, <br />
|
||
  <b>kPRealTime</b>
|
||
<br />
|
||
}</td></tr>
|
||
<tr class="separator:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="inherit_header pub_types_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
|
||
<tr class="memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a0ffb19a834ba3271ed3c9f650f119664"><td class="memItemLeft" align="right" valign="top">typedef THREAD_HANDLE </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664">Handle</a></td></tr>
|
||
<tr class="separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a14b685cdf9b6529a5e31f0f021c4cfd9"><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9">Handler</a>) ()</td></tr>
|
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<tr class="separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a0ffb19a834ba3271ed3c9f650f119664"><td class="memItemLeft" align="right" valign="top">typedef THREAD_HANDLE </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664">Handle</a></td></tr>
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||
<tr class="separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a14b685cdf9b6529a5e31f0f021c4cfd9"><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9">Handler</a>) ()</td></tr>
|
||
<tr class="separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="inherit_header pro_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Static Protected Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
|
||
<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
|
||
<tr class="separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
|
||
<tr class="separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a33cd70cb0291ebd0a95016e89b4d5b6c"><td class="memItemLeft" align="right" valign="top">static Handle </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a33cd70cb0291ebd0a95016e89b4d5b6c">Self</a> ()</td></tr>
|
||
<tr class="separator:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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||
<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
|
||
<tr class="separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
|
||
<tr class="separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afed28b5b5bb00d4addbb0cd7f2ce0ce2"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afed28b5b5bb00d4addbb0cd7f2ce0ce2">Self</a> ()</td></tr>
|
||
<tr class="separator:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
|
||
</table>
|
||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||
<div class="textblock"><p>Abstract database driver for RTAB-Map maps (signatures, links, words, statistics). </p>
|
||
<p><a class="el" href="classrtabmap_1_1DBDriver.html" title="Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).">DBDriver</a> is the persistence layer used by <a class="el" href="classrtabmap_1_1Memory.html">Memory</a>, <a class="el" href="classrtabmap_1_1DBReader.html">DBReader</a> and tools that read or write <code></code>.db files. The default implementation is <a class="el" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a>, created by <a class="el" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9">create()</a>.</p>
|
||
<p>The driver extends <a class="el" href="UThreadNode_8h.html#a82fc8ffe23f95d50f934eb27afd351d6">UThreadNode</a>. Pending <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> and <a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a> objects are queued with <a class="el" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">asyncSave()</a> and flushed to the database by <a class="el" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a">emptyTrashes()</a> (also called from the background thread on <a class="el" href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f">closeConnection()</a>).</p>
|
||
<p>Public methods are thread-safe where noted (mutex-protected wrappers). Subclasses implement SQL-specific logic in protected <code>*Query</code>() virtual methods.</p>
|
||
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1DBDriverSqlite3.html" title="SQLite3 implementation of DBDriver for RTAB-Map map databases.">DBDriverSqlite3</a> </dd>
|
||
<dd>
|
||
<a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a> </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00071">71</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
|
||
</div><h2 class="groupheader">Member Function Documentation</h2>
|
||
<a id="a1f75e440b35243ccad645052bc4a12f9" name="a1f75e440b35243ccad645052bc4a12f9"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a1f75e440b35243ccad645052bc4a12f9">◆ </a></span>create()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">static <a class="el" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * rtabmap::DBDriver::create </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
|
||
<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">static</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Factory: returns a SQLite database driver (<a class="el" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a>). </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">parameters</td><td>Optional driver parameters (e.g. <a class="el" href="classrtabmap_1_1Parameters.html#a4356a08f2a4153665ff049e73000c303">Parameters::kDbTargetVersion()</a>). </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
<dl class="section return"><dt>Returns</dt><dd>New driver instance; caller owns the pointer. </dd></dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a3c73e045d9bdf8cad1c58efc9d930427" name="a3c73e045d9bdf8cad1c58efc9d930427"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a3c73e045d9bdf8cad1c58efc9d930427">◆ </a></span>parseParameters()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">virtual void rtabmap::DBDriver::parseParameters </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
|
||
<td class="paramname"><em>parameters</em></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Parse driver parameters from the map (e.g. target schema version). </p>
|
||
|
||
<p>Reimplemented in <a class="el" href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec">rtabmap::DBDriverSqlite3</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a0ecd6182f404d8e6822b66a54f1d248a" name="a0ecd6182f404d8e6822b66a54f1d248a"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a0ecd6182f404d8e6822b66a54f1d248a">◆ </a></span>isInMemory()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">virtual bool rtabmap::DBDriver::isInMemory </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>True when no database file URL was set at open time. </p>
|
||
<dl class="section note"><dt>Note</dt><dd><a class="el" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a> overrides this when <a class="el" href="classrtabmap_1_1Parameters.html#af89c7aa5e4d7dea98fe2cd05e231346d">Parameters::kDbSqlite3InMemory()</a> is enabled. </dd></dl>
|
||
|
||
<p>Reimplemented in <a class="el" href="classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55">rtabmap::DBDriverSqlite3</a>.</p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00090">90</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a79365611bce06aeda0d078641be89cab" name="a79365611bce06aeda0d078641be89cab"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a79365611bce06aeda0d078641be89cab">◆ </a></span>getUrl()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const std::string & rtabmap::DBDriver::getUrl </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>Database file path last passed to <a class="el" href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5">openConnection()</a>. </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00092">92</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a456bc49e8e60e0c754078a4b09e3f1a1" name="a456bc49e8e60e0c754078a4b09e3f1a1"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a456bc49e8e60e0c754078a4b09e3f1a1">◆ </a></span>getTargetVersion()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const std::string & rtabmap::DBDriver::getTargetVersion </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>Target schema version for new databases (from parameters). </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00094">94</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ad1510e157f3ab8df3284528369a6d88f" name="ad1510e157f3ab8df3284528369a6d88f"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ad1510e157f3ab8df3284528369a6d88f">◆ </a></span>asyncSave()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::asyncSave </td>
|
||
<td>(</td>
|
||
<td class="paramtype"><a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * </td>
|
||
<td class="paramname"><em>s</em></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Queue a signature for deferred save; ownership is transferred. </p>
|
||
<dl class="section note"><dt>Note</dt><dd>Only the <em>compressed</em> sensor buffers are written (<a class="el" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029" title="Returns the compressed RGB/grayscale image.">SensorData::imageCompressed()</a>, depthOrRightCompressed(), laserScanCompressed(), ...). Raw matrices are ignored, so a signature carrying only raw data is stored with empty payloads. <a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a> compresses before saving; a caller driving the driver directly should compress first with <a class="el" href="namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99">compressImage2()</a> / <a class="el" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2()</a>, or pass the compressed buffers to <a class="el" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">SensorData::setRGBDImage()</a> / setLaserScan(), which treat a 1-row CV_8UC1 matrix as already compressed. </dd></dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ab4a0036162994c2ef76d4236e2a7ea0a" name="ab4a0036162994c2ef76d4236e2a7ea0a"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ab4a0036162994c2ef76d4236e2a7ea0a">◆ </a></span>emptyTrashes()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::emptyTrashes </td>
|
||
<td>(</td>
|
||
<td class="paramtype">bool </td>
|
||
<td class="paramname"><em>async</em> = <code>false</code></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Flush queued signatures and visual words to the database. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">async</td><td>If true, signal the background thread instead of flushing synchronously. </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ada0df079a28dd5c2cc37baf2f3f8e79d" name="ada0df079a28dd5c2cc37baf2f3f8e79d"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ada0df079a28dd5c2cc37baf2f3f8e79d">◆ </a></span>getEmptyTrashesTime()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">double rtabmap::DBDriver::getEmptyTrashesTime </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00116">116</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ab635aa1b5087868f3bc3e27cc3bd92ab" name="ab635aa1b5087868f3bc3e27cc3bd92ab"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ab635aa1b5087868f3bc3e27cc3bd92ab">◆ </a></span>setTimestampUpdateEnabled()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::setTimestampUpdateEnabled </td>
|
||
<td>(</td>
|
||
<td class="paramtype">bool </td>
|
||
<td class="paramname"><em>enabled</em></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p class="definition">Definition at line <a class="el" href="DBDriver_8h_source.html#l00117">117</a> of file <a class="el" href="DBDriver_8h_source.html">DBDriver.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="abbf62fc6967cf618e6b2aece44f45230" name="abbf62fc6967cf618e6b2aece44f45230"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#abbf62fc6967cf618e6b2aece44f45230">◆ </a></span>generateGraph()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::generateGraph </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const std::string & </td>
|
||
<td class="paramname"><em>fileName</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const std::set< int > & </td>
|
||
<td class="paramname"><em>ids</em> = <code>std::set< int >()</code>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const std::map< int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * > & </td>
|
||
<td class="paramname"><em>otherSignatures</em> = <code>std::map< int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> * >()</code> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Export the pose graph to a Graphviz DOT file for visualization. </p>
|
||
<p>Reads nodes and links from the database (and optionally from <code>otherSignatures</code> not yet persisted) and writes <code>fileName</code>. Does not modify the database. If <code>ids</code> is empty, all node ids are included. </p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a2f5e8e0b367e49cfbba7c96b28306a61" name="a2f5e8e0b367e49cfbba7c96b28306a61"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a2f5e8e0b367e49cfbba7c96b28306a61">◆ </a></span>updateOccupancyGrid()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::updateOccupancyGrid </td>
|
||
<td>(</td>
|
||
<td class="paramtype">int </td>
|
||
<td class="paramname"><em>nodeId</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>ground</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>obstacles</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>empty</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">float </td>
|
||
<td class="paramname"><em>cellSize</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Point3f & </td>
|
||
<td class="paramname"><em>viewpoint</em> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Update occupancy grid cells for a node. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">ground</td><td>Ground cells (raw <code>CV_32FC2/<code>CV_32FC3</code>,</code> or compressed <code>CV_8UC1</code> 1×N). </td></tr>
|
||
<tr><td class="paramname">obstacles</td><td>Obstacle cells (same formats as <code>ground</code>). </td></tr>
|
||
<tr><td class="paramname">empty</td><td>Empty cells (same formats as <code>ground</code>; ignored on DB schema < 0.16.0). Raw mats are compressed internally via <a class="el" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b">SensorData::setOccupancyGrid()</a> before writing. </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a3a02d595356e2dd0ed8b8933a6c4e811" name="a3a02d595356e2dd0ed8b8933a6c4e811"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a3a02d595356e2dd0ed8b8933a6c4e811">◆ </a></span>updateDepthImage()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::updateDepthImage </td>
|
||
<td>(</td>
|
||
<td class="paramtype">int </td>
|
||
<td class="paramname"><em>nodeId</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>image</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const std::string & </td>
|
||
<td class="paramname"><em>format</em> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Update the depth image stored for a node. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">image</td><td>Raw depth image, or pre-compressed blob (<code>CV_8UC1</code>, single row). </td></tr>
|
||
<tr><td class="paramname">format</td><td>Compression format when <code>image</code> is raw (e.g. <code>".png"</code>); ignored if already compressed. Uncompressed images are compressed with <a class="el" href="namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99">compressImage2()</a> before writing. </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a7d167e53d447d77dd3fe35665f8a661b" name="a7d167e53d447d77dd3fe35665f8a661b"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a7d167e53d447d77dd3fe35665f8a661b">◆ </a></span>updateLaserScan()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::updateLaserScan </td>
|
||
<td>(</td>
|
||
<td class="paramtype">int </td>
|
||
<td class="paramname"><em>nodeId</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & </td>
|
||
<td class="paramname"><em>scan</em> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Update the laser scan stored for a node. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">scan</td><td>Uncompressed scan, or already compressed (<a class="el" href="classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9">LaserScan::isCompressed()</a>). Uncompressed data is compressed with <a class="el" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2()</a> before writing. </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a4dbccd0dabf72da724488692b1713832" name="a4dbccd0dabf72da724488692b1713832"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a4dbccd0dabf72da724488692b1713832">◆ </a></span>addStatistics()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::addStatistics </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a> & </td>
|
||
<td class="paramname"><em>statistics</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">bool </td>
|
||
<td class="paramname"><em>saveWmState</em> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td> const</td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Append a <a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a> record for a processed node. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">statistics</td><td>Metrics for <a class="el" href="classrtabmap_1_1Statistics.html#a4ba41e262e2af21bfb2c9d1b6e493d6d">Statistics::refImageId()</a> (insert skipped if id ≤ 0 or data empty). </td></tr>
|
||
<tr><td class="paramname">saveWmState</td><td>If true and schema ≥ 0.16.2, also store compressed working-memory state. </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a8323a53d20e4ade6b1c7b268c473a170" name="a8323a53d20e4ade6b1c7b268c473a170"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a8323a53d20e4ade6b1c7b268c473a170">◆ </a></span>savePreviewImage()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::savePreviewImage </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>image</em></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Save the map preview thumbnail in the Admin table. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">image</td><td>Raw image or JPEG-compressed blob (<code>CV_8UC1</code>, single row); empty clears it. </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
<dl class="section note"><dt>Note</dt><dd>Requires database schema ≥ 0.12.0. </dd></dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a22d5643353b8d49bcc94c5a4abbc9a39" name="a22d5643353b8d49bcc94c5a4abbc9a39"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a22d5643353b8d49bcc94c5a4abbc9a39">◆ </a></span>saveOptimizedMesh()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::saveOptimizedMesh </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>cloud</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > & </td>
|
||
<td class="paramname"><em>polygons</em> = <code>std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >()</code>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const std::vector< std::vector< Eigen::Vector2f > > & </td>
|
||
<td class="paramname"><em>texCoords</em> = <code>std::vector< std::vector< Eigen::Vector2f > >()</code>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>textures</em> = <code>cv::Mat()</code> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td> const</td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Persist the global optimized 3D mesh to the database. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">cloud</td><td>Point cloud (<code>CV_32FC1</code> or <code>CV_32FC3</code>). </td></tr>
|
||
<tr><td class="paramname">polygons</td><td>Optional per-texture polygon index lists (texture → polygon → vertex indices). </td></tr>
|
||
<tr><td class="paramname">texCoords</td><td>Optional UV coordinates per texture (one per polygon vertex). </td></tr>
|
||
<tr><td class="paramname">textures</td><td>Optional concatenated square texture images (same size per texture). </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a33c2abff50e61f35efbbdbe530963fea" name="a33c2abff50e61f35efbbdbe530963fea"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a33c2abff50e61f35efbbdbe530963fea">◆ </a></span>saveFlannIndex()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::DBDriver::saveFlannIndex </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const std::vector< unsigned char > & </td>
|
||
<td class="paramname"><em>indexData</em></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Persist the visual word dictionary FLANN index (serialized blob). </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">indexData</td><td>Serialized index from <a class="el" href="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">VWDictionary::serializeIndex()</a>; pass empty to clear. </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
<dl class="section note"><dt>Note</dt><dd>Requires database schema ≥ 0.23.0. Used when <a class="el" href="classrtabmap_1_1Parameters.html#a866886411343233d86d96d574ea1c524">Parameters::kKpFlannIndexSaved()</a> is enabled. </dd></dl>
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<a id="a7b1222cf6e75d7365b5b90c37bca2a85" name="a7b1222cf6e75d7365b5b90c37bca2a85"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a7b1222cf6e75d7365b5b90c37bca2a85">◆ </a></span>isConnected()</h2>
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<td class="memname">bool rtabmap::DBDriver::isConnected </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td> const</td>
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</tr>
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</div><div class="memdoc">
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<dl class="section return"><dt>Returns</dt><dd>True if a database connection is active. </dd></dl>
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</div>
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</div>
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<a id="a9adb7be1463016917f24a3db5f1e8264" name="a9adb7be1463016917f24a3db5f1e8264"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a9adb7be1463016917f24a3db5f1e8264">◆ </a></span>getDatabaseVersion()</h2>
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<div class="memitem">
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<div class="memproto">
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<td class="memname">std::string rtabmap::DBDriver::getDatabaseVersion </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td> const</td>
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</tr>
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</div><div class="memdoc">
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<dl class="section return"><dt>Returns</dt><dd>Schema version string stored in the database (e.g. "0.21.0"). </dd></dl>
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</div>
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</div>
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<a id="a835fc23bd4f6532af71f3aadfb8037d8" name="a835fc23bd4f6532af71f3aadfb8037d8"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a835fc23bd4f6532af71f3aadfb8037d8">◆ </a></span>executeNoResult()</h2>
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<div class="memitem">
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<td class="memname">void rtabmap::DBDriver::executeNoResult </td>
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<td>(</td>
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<td class="paramtype">const std::string & </td>
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<td class="paramname"><em>sql</em></td><td>)</td>
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<td> const</td>
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</tr>
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<p>Run a SQL statement that does not return result rows. </p>
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<p>Executes <code>sql</code> on the open database (e.g. <code>INSERT</code>, <code>UPDATE</code>, <code>DELETE</code>, <code>CREATE</code>, <code>PRAGMA</code>). Thread-safe wrapper around the backend's SQL execution.</p>
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<p>For reads, use the dedicated <a class="el" href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120">loadSignature()</a>, <a class="el" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d">loadLinks()</a> and related query methods instead of raw SQL.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">sql</td><td>Complete SQL statement (SQLite syntax for <a class="el" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a>). </td></tr>
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</table>
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||
</dd>
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</dl>
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<dl class="section note"><dt>Note</dt><dd>The connection must be open (<a class="el" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85">isConnected()</a>). On failure the driver aborts with an assertion (SQLite backend). </dd></dl>
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<dl class="section warning"><dt>Warning</dt><dd><code>sql</code> is passed verbatim; sanitize any user-controlled values before calling. </dd></dl>
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||
</div>
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||
</div>
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||
<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="DBDriver_8h_source.html">DBDriver.h</a></li>
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</ul>
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</div><!-- contents -->
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<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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