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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;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> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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<div class="headertitle"><div class="title">rtabmap::Statistics Class Reference</div></div>
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<p>Collects and manages runtime statistics for RTAB-Map.
<a href="classrtabmap_1_1Statistics.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="Statistics_8h_source.html">Statistics.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a5f5bf8e57410944ec46be25a5bf8ab46" id="r_a5f5bf8e57410944ec46be25a5bf8ab46"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a5f5bf8e57410944ec46be25a5bf8ab46">Statistics</a> ()</td></tr>
<tr class="memdesc:a5f5bf8e57410944ec46be25a5bf8ab46"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. <br /></td></tr>
<tr class="separator:a5f5bf8e57410944ec46be25a5bf8ab46"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7ecfdb141de651d094d28a2d035dca0" id="r_af7ecfdb141de651d094d28a2d035dca0"><td class="memItemLeft" align="right" valign="top"><a id="af7ecfdb141de651d094d28a2d035dca0" name="af7ecfdb141de651d094d28a2d035dca0"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><b>~Statistics</b> ()</td></tr>
<tr class="memdesc:af7ecfdb141de651d094d28a2d035dca0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
<tr class="separator:af7ecfdb141de651d094d28a2d035dca0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24d85beaf52fd03ad67c6d9d417efd79" id="r_a24d85beaf52fd03ad67c6d9d417efd79"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79">addStatistic</a> (const std::string &amp;name, float value)</td></tr>
<tr class="memdesc:a24d85beaf52fd03ad67c6d9d417efd79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a statistic value to the data map. <br /></td></tr>
<tr class="separator:a24d85beaf52fd03ad67c6d9d417efd79"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a938202c5836ba75d8eb06b0317712d06" id="r_a938202c5836ba75d8eb06b0317712d06"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a938202c5836ba75d8eb06b0317712d06">setExtended</a> (bool <a class="el" href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122">extended</a>)</td></tr>
<tr class="memdesc:a938202c5836ba75d8eb06b0317712d06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets whether extended statistics mode is enabled. <br /></td></tr>
<tr class="separator:a938202c5836ba75d8eb06b0317712d06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fa0c5aafea26effea2ed63d5bf3a31f" id="r_a4fa0c5aafea26effea2ed63d5bf3a31f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a4fa0c5aafea26effea2ed63d5bf3a31f">setRefImageId</a> (int id)</td></tr>
<tr class="memdesc:a4fa0c5aafea26effea2ed63d5bf3a31f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the reference image ID (current/last processed signature ID) <br /></td></tr>
<tr class="separator:a4fa0c5aafea26effea2ed63d5bf3a31f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39895f500676995e2cc830169b80c7ca" id="r_a39895f500676995e2cc830169b80c7ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a39895f500676995e2cc830169b80c7ca">setRefImageMapId</a> (int id)</td></tr>
<tr class="memdesc:a39895f500676995e2cc830169b80c7ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the reference image map ID. <br /></td></tr>
<tr class="separator:a39895f500676995e2cc830169b80c7ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a19272faba1c28279bb565464afa84645" id="r_a19272faba1c28279bb565464afa84645"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a19272faba1c28279bb565464afa84645">setLoopClosureId</a> (int id)</td></tr>
<tr class="memdesc:a19272faba1c28279bb565464afa84645"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the loop closure detection ID. <br /></td></tr>
<tr class="separator:a19272faba1c28279bb565464afa84645"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b92ac9f165c77b2cc92f3fc6d7242cd" id="r_a3b92ac9f165c77b2cc92f3fc6d7242cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a3b92ac9f165c77b2cc92f3fc6d7242cd">setLoopClosureMapId</a> (int id)</td></tr>
<tr class="memdesc:a3b92ac9f165c77b2cc92f3fc6d7242cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the loop closure map ID. <br /></td></tr>
<tr class="separator:a3b92ac9f165c77b2cc92f3fc6d7242cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25b8a9b50054a80dc09423b6fe9f68ff" id="r_a25b8a9b50054a80dc09423b6fe9f68ff"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a25b8a9b50054a80dc09423b6fe9f68ff">setProximityDetectionId</a> (int id)</td></tr>
<tr class="memdesc:a25b8a9b50054a80dc09423b6fe9f68ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the proximity detection ID. <br /></td></tr>
<tr class="separator:a25b8a9b50054a80dc09423b6fe9f68ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e6df533a3c7a70d0391f7fe129e5eef" id="r_a5e6df533a3c7a70d0391f7fe129e5eef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a5e6df533a3c7a70d0391f7fe129e5eef">setProximityDetectionMapId</a> (int id)</td></tr>
<tr class="memdesc:a5e6df533a3c7a70d0391f7fe129e5eef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the proximity detection map ID. <br /></td></tr>
<tr class="separator:a5e6df533a3c7a70d0391f7fe129e5eef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12bfc3ce8eb232a6ac3942af504bedef" id="r_a12bfc3ce8eb232a6ac3942af504bedef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a12bfc3ce8eb232a6ac3942af504bedef">setStamp</a> (double <a class="el" href="classrtabmap_1_1Statistics.html#a24a86b496c06f7d027ebb803b0ce70dd">stamp</a>)</td></tr>
<tr class="memdesc:a12bfc3ce8eb232a6ac3942af504bedef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the timestamp for these statistics. <br /></td></tr>
<tr class="separator:a12bfc3ce8eb232a6ac3942af504bedef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae5de0aae15a10ed18cc30c2656bd4d6a" id="r_ae5de0aae15a10ed18cc30c2656bd4d6a"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ae5de0aae15a10ed18cc30c2656bd4d6a">setLastSignatureData</a> (const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &amp;<a class="el" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">data</a>)</td></tr>
<tr class="memdesc:ae5de0aae15a10ed18cc30c2656bd4d6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the last signature data (deprecated) <br /></td></tr>
<tr class="separator:ae5de0aae15a10ed18cc30c2656bd4d6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55748a17bc6348a83dc184fb1b2631fd" id="r_a55748a17bc6348a83dc184fb1b2631fd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd">addSignatureData</a> (const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &amp;<a class="el" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">data</a>)</td></tr>
<tr class="memdesc:a55748a17bc6348a83dc184fb1b2631fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds signature data to the statistics. <br /></td></tr>
<tr class="separator:a55748a17bc6348a83dc184fb1b2631fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad23568ea07d4ad167fcbd83a9083a2ef" id="r_ad23568ea07d4ad167fcbd83a9083a2ef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ad23568ea07d4ad167fcbd83a9083a2ef">setSignaturesData</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">data</a>)</td></tr>
<tr class="memdesc:ad23568ea07d4ad167fcbd83a9083a2ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets all signature data at once. <br /></td></tr>
<tr class="separator:ad23568ea07d4ad167fcbd83a9083a2ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf7df1c7a8958a24988239fc40ece1ea" id="r_acf7df1c7a8958a24988239fc40ece1ea"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#acf7df1c7a8958a24988239fc40ece1ea">setPoses</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#acb80fff8690d88228ebda369e0e06289">poses</a>)</td></tr>
<tr class="memdesc:acf7df1c7a8958a24988239fc40ece1ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the pose graph (node poses) <br /></td></tr>
<tr class="separator:acf7df1c7a8958a24988239fc40ece1ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac4761222db6faee6c34c53c1d4d00ec2" id="r_ac4761222db6faee6c34c53c1d4d00ec2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ac4761222db6faee6c34c53c1d4d00ec2">setConstraints</a> (const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a30275a92af2f9fb08f3955c5b9e8b661">constraints</a>)</td></tr>
<tr class="memdesc:ac4761222db6faee6c34c53c1d4d00ec2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the constraint graph (links between nodes) <br /></td></tr>
<tr class="separator:ac4761222db6faee6c34c53c1d4d00ec2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a70e49f42639395a89edbde4659bf88" id="r_a6a70e49f42639395a89edbde4659bf88"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a6a70e49f42639395a89edbde4659bf88">setMapCorrection</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d">mapCorrection</a>)</td></tr>
<tr class="memdesc:a6a70e49f42639395a89edbde4659bf88"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the map correction transform. <br /></td></tr>
<tr class="separator:a6a70e49f42639395a89edbde4659bf88"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac323334656165fd230cbe396836c6939" id="r_ac323334656165fd230cbe396836c6939"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ac323334656165fd230cbe396836c6939">setLoopClosureTransform</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a38c88cb8327baa290bf476326d24b54c">loopClosureTransform</a>)</td></tr>
<tr class="memdesc:ac323334656165fd230cbe396836c6939"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the loop closure transform. <br /></td></tr>
<tr class="separator:ac323334656165fd230cbe396836c6939"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a747aee7cd90f8318de6d0b82bedcd971" id="r_a747aee7cd90f8318de6d0b82bedcd971"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a747aee7cd90f8318de6d0b82bedcd971">setLocalizationCovariance</a> (const cv::Mat &amp;covariance)</td></tr>
<tr class="memdesc:a747aee7cd90f8318de6d0b82bedcd971"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the localization covariance matrix. <br /></td></tr>
<tr class="separator:a747aee7cd90f8318de6d0b82bedcd971"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa519c598aa7a56eda73653ab34d6b48" id="r_aaa519c598aa7a56eda73653ab34d6b48"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#aaa519c598aa7a56eda73653ab34d6b48">setLabels</a> (const std::map&lt; int, std::string &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#afeb2fd18d35f6a760ffa46ca0ebe4e49">labels</a>)</td></tr>
<tr class="memdesc:aaa519c598aa7a56eda73653ab34d6b48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets node labels. <br /></td></tr>
<tr class="separator:aaa519c598aa7a56eda73653ab34d6b48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a918d447083cfcea3ab040e985461ae45" id="r_a918d447083cfcea3ab040e985461ae45"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a918d447083cfcea3ab040e985461ae45">setWeights</a> (const std::map&lt; int, int &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#ab29fce77b8debf381356e27ac039fafc">weights</a>)</td></tr>
<tr class="memdesc:a918d447083cfcea3ab040e985461ae45"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets node weights. <br /></td></tr>
<tr class="separator:a918d447083cfcea3ab040e985461ae45"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a915bb9bd90193a92f565f56024d61586" id="r_a915bb9bd90193a92f565f56024d61586"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a915bb9bd90193a92f565f56024d61586">setPosterior</a> (const std::map&lt; int, float &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#ac50fb91120fdc16266460678088ac12f">posterior</a>)</td></tr>
<tr class="memdesc:a915bb9bd90193a92f565f56024d61586"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets posterior probabilities for loop closure hypotheses. <br /></td></tr>
<tr class="separator:a915bb9bd90193a92f565f56024d61586"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8988eb66288df6a4d676b3cbd7b3a7ff" id="r_a8988eb66288df6a4d676b3cbd7b3a7ff"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a8988eb66288df6a4d676b3cbd7b3a7ff">setLikelihood</a> (const std::map&lt; int, float &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a4f3492b5cf6ff082d0061c9d7c67536f">likelihood</a>)</td></tr>
<tr class="memdesc:a8988eb66288df6a4d676b3cbd7b3a7ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets likelihood values for loop closure hypotheses. <br /></td></tr>
<tr class="separator:a8988eb66288df6a4d676b3cbd7b3a7ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a20a3634b3fbd36d86b1803f7427b105f" id="r_a20a3634b3fbd36d86b1803f7427b105f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a20a3634b3fbd36d86b1803f7427b105f">setRawLikelihood</a> (const std::map&lt; int, float &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a472f50deace411e1fbbef95f4fb698de">rawLikelihood</a>)</td></tr>
<tr class="memdesc:a20a3634b3fbd36d86b1803f7427b105f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets raw likelihood values (before normalization) <br /></td></tr>
<tr class="separator:a20a3634b3fbd36d86b1803f7427b105f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c80bf518d943d9b86e5088a9269b455" id="r_a3c80bf518d943d9b86e5088a9269b455"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a3c80bf518d943d9b86e5088a9269b455">setLocalPath</a> (const std::vector&lt; int &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a82f7c8f962fd5fcea9a5d4fc087cb2ce">localPath</a>)</td></tr>
<tr class="memdesc:a3c80bf518d943d9b86e5088a9269b455"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the local path (sequence of node IDs) <br /></td></tr>
<tr class="separator:a3c80bf518d943d9b86e5088a9269b455"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a845a35143a149c9670fb46938594fcb9" id="r_a845a35143a149c9670fb46938594fcb9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a845a35143a149c9670fb46938594fcb9">setCurrentGoalId</a> (int goal)</td></tr>
<tr class="memdesc:a845a35143a149c9670fb46938594fcb9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the current goal node ID. <br /></td></tr>
<tr class="separator:a845a35143a149c9670fb46938594fcb9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf88d8f411f811549d91d29a5b78d308" id="r_abf88d8f411f811549d91d29a5b78d308"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#abf88d8f411f811549d91d29a5b78d308">setReducedIds</a> (const std::map&lt; int, int &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a8c1e9a5c04232909f62447656d6bcbce">reducedIds</a>)</td></tr>
<tr class="memdesc:abf88d8f411f811549d91d29a5b78d308"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the reduced IDs mapping. <br /></td></tr>
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<tr class="memitem:aa43870ba13369f23c122bff62f6654c8" id="r_aa43870ba13369f23c122bff62f6654c8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#aa43870ba13369f23c122bff62f6654c8">setWmState</a> (const std::vector&lt; int &gt; &amp;state)</td></tr>
<tr class="memdesc:aa43870ba13369f23c122bff62f6654c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the working memory state. <br /></td></tr>
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<tr class="memitem:a6032903dc163f7bc5d36c0520ccdfcef" id="r_a6032903dc163f7bc5d36c0520ccdfcef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a6032903dc163f7bc5d36c0520ccdfcef">setOdomCachePoses</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#acb80fff8690d88228ebda369e0e06289">poses</a>)</td></tr>
<tr class="memdesc:a6032903dc163f7bc5d36c0520ccdfcef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets odometry cache poses. <br /></td></tr>
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<tr class="memitem:ae3d58759c1cc237b2e297c2c5f608725" id="r_ae3d58759c1cc237b2e297c2c5f608725"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ae3d58759c1cc237b2e297c2c5f608725">setOdomCacheConstraints</a> (const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#a30275a92af2f9fb08f3955c5b9e8b661">constraints</a>)</td></tr>
<tr class="memdesc:ae3d58759c1cc237b2e297c2c5f608725"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets odometry cache constraints. <br /></td></tr>
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<tr class="memitem:a1e1ba8f7429fa212aa32897877dec122" id="r_a1e1ba8f7429fa212aa32897877dec122"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122">extended</a> () const</td></tr>
<tr class="memdesc:a1e1ba8f7429fa212aa32897877dec122"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether extended statistics mode is enabled. <br /></td></tr>
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<tr class="memitem:a4ba41e262e2af21bfb2c9d1b6e493d6d" id="r_a4ba41e262e2af21bfb2c9d1b6e493d6d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a4ba41e262e2af21bfb2c9d1b6e493d6d">refImageId</a> () const</td></tr>
<tr class="memdesc:a4ba41e262e2af21bfb2c9d1b6e493d6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the reference image ID. <br /></td></tr>
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<tr class="memitem:a45abfdd8f164e0c457d64b80919d5052" id="r_a45abfdd8f164e0c457d64b80919d5052"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a45abfdd8f164e0c457d64b80919d5052">refImageMapId</a> () const</td></tr>
<tr class="memdesc:a45abfdd8f164e0c457d64b80919d5052"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the reference image map ID. <br /></td></tr>
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<tr class="memitem:a6a81189f2327a8b8f05a5f93d68fa3b7" id="r_a6a81189f2327a8b8f05a5f93d68fa3b7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a6a81189f2327a8b8f05a5f93d68fa3b7">loopClosureId</a> () const</td></tr>
<tr class="memdesc:a6a81189f2327a8b8f05a5f93d68fa3b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the loop closure detection ID. <br /></td></tr>
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<tr class="memitem:a1cf32a26d3ca103c22104015a3de8929" id="r_a1cf32a26d3ca103c22104015a3de8929"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a1cf32a26d3ca103c22104015a3de8929">loopClosureMapId</a> () const</td></tr>
<tr class="memdesc:a1cf32a26d3ca103c22104015a3de8929"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the loop closure map ID. <br /></td></tr>
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<tr class="memitem:a0aeff90b40410ef769e63ef6b000328b" id="r_a0aeff90b40410ef769e63ef6b000328b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a0aeff90b40410ef769e63ef6b000328b">proximityDetectionId</a> () const</td></tr>
<tr class="memdesc:a0aeff90b40410ef769e63ef6b000328b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the proximity detection ID. <br /></td></tr>
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<tr class="memitem:ae973bc5dc35b89888a67d5e416536c53" id="r_ae973bc5dc35b89888a67d5e416536c53"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ae973bc5dc35b89888a67d5e416536c53">proximityDetectionMapId</a> () const</td></tr>
<tr class="memdesc:ae973bc5dc35b89888a67d5e416536c53"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the proximity detection map ID. <br /></td></tr>
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<tr class="memitem:a24a86b496c06f7d027ebb803b0ce70dd" id="r_a24a86b496c06f7d027ebb803b0ce70dd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a24a86b496c06f7d027ebb803b0ce70dd">stamp</a> () const</td></tr>
<tr class="memdesc:a24a86b496c06f7d027ebb803b0ce70dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the timestamp. <br /></td></tr>
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<tr class="memitem:a582cb4d6d0b3034062d508a6cac77081" id="r_a582cb4d6d0b3034062d508a6cac77081"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a582cb4d6d0b3034062d508a6cac77081">getLastSignatureData</a> () const</td></tr>
<tr class="memdesc:a582cb4d6d0b3034062d508a6cac77081"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the last signature data. <br /></td></tr>
<tr class="separator:a582cb4d6d0b3034062d508a6cac77081"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd89f302128c32d07b0dea07e50b742b" id="r_abd89f302128c32d07b0dea07e50b742b"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#abd89f302128c32d07b0dea07e50b742b">getSignaturesData</a> () const</td></tr>
<tr class="memdesc:abd89f302128c32d07b0dea07e50b742b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns all signature data. <br /></td></tr>
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<tr class="memitem:acb80fff8690d88228ebda369e0e06289" id="r_acb80fff8690d88228ebda369e0e06289"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#acb80fff8690d88228ebda369e0e06289">poses</a> () const</td></tr>
<tr class="memdesc:acb80fff8690d88228ebda369e0e06289"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the pose graph. <br /></td></tr>
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<tr class="memitem:a30275a92af2f9fb08f3955c5b9e8b661" id="r_a30275a92af2f9fb08f3955c5b9e8b661"><td class="memItemLeft" align="right" valign="top">const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a30275a92af2f9fb08f3955c5b9e8b661">constraints</a> () const</td></tr>
<tr class="memdesc:a30275a92af2f9fb08f3955c5b9e8b661"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the constraint graph. <br /></td></tr>
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<tr class="memitem:a775992631cd8d976a94ea6c1560dad0d" id="r_a775992631cd8d976a94ea6c1560dad0d"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d">mapCorrection</a> () const</td></tr>
<tr class="memdesc:a775992631cd8d976a94ea6c1560dad0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the map correction transform. <br /></td></tr>
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<tr class="memitem:a38c88cb8327baa290bf476326d24b54c" id="r_a38c88cb8327baa290bf476326d24b54c"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a38c88cb8327baa290bf476326d24b54c">loopClosureTransform</a> () const</td></tr>
<tr class="memdesc:a38c88cb8327baa290bf476326d24b54c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the loop closure transform. <br /></td></tr>
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<tr class="memitem:a4c05e2dd7412e875333f3edea70ffbb3" id="r_a4c05e2dd7412e875333f3edea70ffbb3"><td class="memItemLeft" align="right" valign="top">const cv::Mat &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a4c05e2dd7412e875333f3edea70ffbb3">localizationCovariance</a> () const</td></tr>
<tr class="memdesc:a4c05e2dd7412e875333f3edea70ffbb3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the localization covariance matrix. <br /></td></tr>
<tr class="separator:a4c05e2dd7412e875333f3edea70ffbb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afeb2fd18d35f6a760ffa46ca0ebe4e49" id="r_afeb2fd18d35f6a760ffa46ca0ebe4e49"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, std::string &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#afeb2fd18d35f6a760ffa46ca0ebe4e49">labels</a> () const</td></tr>
<tr class="memdesc:afeb2fd18d35f6a760ffa46ca0ebe4e49"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns node labels. <br /></td></tr>
<tr class="separator:afeb2fd18d35f6a760ffa46ca0ebe4e49"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab29fce77b8debf381356e27ac039fafc" id="r_ab29fce77b8debf381356e27ac039fafc"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, int &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ab29fce77b8debf381356e27ac039fafc">weights</a> () const</td></tr>
<tr class="memdesc:ab29fce77b8debf381356e27ac039fafc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns node weights. <br /></td></tr>
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<tr class="memitem:ac50fb91120fdc16266460678088ac12f" id="r_ac50fb91120fdc16266460678088ac12f"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, float &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ac50fb91120fdc16266460678088ac12f">posterior</a> () const</td></tr>
<tr class="memdesc:ac50fb91120fdc16266460678088ac12f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns posterior probabilities. <br /></td></tr>
<tr class="separator:ac50fb91120fdc16266460678088ac12f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f3492b5cf6ff082d0061c9d7c67536f" id="r_a4f3492b5cf6ff082d0061c9d7c67536f"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, float &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a4f3492b5cf6ff082d0061c9d7c67536f">likelihood</a> () const</td></tr>
<tr class="memdesc:a4f3492b5cf6ff082d0061c9d7c67536f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns likelihood values. <br /></td></tr>
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<tr class="memitem:a472f50deace411e1fbbef95f4fb698de" id="r_a472f50deace411e1fbbef95f4fb698de"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, float &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a472f50deace411e1fbbef95f4fb698de">rawLikelihood</a> () const</td></tr>
<tr class="memdesc:a472f50deace411e1fbbef95f4fb698de"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns raw likelihood values. <br /></td></tr>
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<tr class="memitem:a82f7c8f962fd5fcea9a5d4fc087cb2ce" id="r_a82f7c8f962fd5fcea9a5d4fc087cb2ce"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; int &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a82f7c8f962fd5fcea9a5d4fc087cb2ce">localPath</a> () const</td></tr>
<tr class="memdesc:a82f7c8f962fd5fcea9a5d4fc087cb2ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the local path. <br /></td></tr>
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<tr class="memitem:adae0424da0557be95b6968eecdbc628e" id="r_adae0424da0557be95b6968eecdbc628e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#adae0424da0557be95b6968eecdbc628e">currentGoalId</a> () const</td></tr>
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<tr class="memitem:a8c1e9a5c04232909f62447656d6bcbce" id="r_a8c1e9a5c04232909f62447656d6bcbce"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, int &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a8c1e9a5c04232909f62447656d6bcbce">reducedIds</a> () const</td></tr>
<tr class="memdesc:a8c1e9a5c04232909f62447656d6bcbce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the reduced IDs mapping. <br /></td></tr>
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<tr class="memdesc:a0b0bb69d788a142a7b51ae2e916798b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the working memory state. <br /></td></tr>
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<tr class="memitem:a8d88d70935ef4e110cd2c92b07ed74b2" id="r_a8d88d70935ef4e110cd2c92b07ed74b2"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a8d88d70935ef4e110cd2c92b07ed74b2">odomCachePoses</a> () const</td></tr>
<tr class="memdesc:a8d88d70935ef4e110cd2c92b07ed74b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns odometry cache poses. <br /></td></tr>
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<tr class="memitem:a44b7a6c4d5b8bd58efcce2fdf3f2a9fd" id="r_a44b7a6c4d5b8bd58efcce2fdf3f2a9fd"><td class="memItemLeft" align="right" valign="top">const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a44b7a6c4d5b8bd58efcce2fdf3f2a9fd">odomCacheConstraints</a> () const</td></tr>
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<tr class="memitem:ab5c8be76435cdfb98c656ccc236f029a" id="r_ab5c8be76435cdfb98c656ccc236f029a"><td class="memItemLeft" align="right" valign="top">const std::map&lt; std::string, float &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">data</a> () const</td></tr>
<tr class="memdesc:ab5c8be76435cdfb98c656ccc236f029a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the statistics data map. <br /></td></tr>
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<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:a917322822da5565f5c7438849f307c4f" id="r_a917322822da5565f5c7438849f307c4f"><td class="memItemLeft" align="right" valign="top">static const std::map&lt; std::string, float &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a917322822da5565f5c7438849f307c4f">defaultData</a> ()</td></tr>
<tr class="memdesc:a917322822da5565f5c7438849f307c4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the default statistics data map. <br /></td></tr>
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<tr class="memitem:ab34cfba17216b060f57e106d7c169685" id="r_ab34cfba17216b060f57e106d7c169685"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">serializeData</a> (const std::map&lt; std::string, float &gt; &amp;<a class="el" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">data</a>)</td></tr>
<tr class="memdesc:ab34cfba17216b060f57e106d7c169685"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serializes a statistics data map to a string. <br /></td></tr>
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<tr class="memitem:a167ea0c3bc76865e90624323e72399c7" id="r_a167ea0c3bc76865e90624323e72399c7"><td class="memItemLeft" align="right" valign="top">static std::map&lt; std::string, float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html#a167ea0c3bc76865e90624323e72399c7">deserializeData</a> (const std::string &amp;<a class="el" href="classrtabmap_1_1Statistics.html#ab5c8be76435cdfb98c656ccc236f029a">data</a>)</td></tr>
<tr class="memdesc:a167ea0c3bc76865e90624323e72399c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserializes a statistics data map from a string. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Collects and manages runtime statistics for RTAB-Map. </p>
<p>The <a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> class provides a comprehensive system for collecting, storing, and managing various runtime statistics about RTAB-Map's operation. <a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> are organized into groups such as:</p><ul>
<li><b>Loop</b>: Loop closure detection, hypothesis validation, optimization errors</li>
<li><b>Proximity</b>: Proximity-based detection statistics</li>
<li><b><a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a></b>: Working memory size, database usage, signature management</li>
<li><b>Timing</b>: Performance measurements for various operations</li>
<li><b>Keypoint</b>: Visual word dictionary and feature statistics</li>
<li><b>Gt</b>: Ground truth comparison statistics</li>
</ul>
<p><a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> are stored in a map with keys in the format "Group/Name/Unit" (e.g., "Timing/Total time/ms"). This hierarchical naming allows for easy categorization and plotting.</p>
<p>The class supports two modes:</p><ul>
<li><b>Basic mode</b> (<code><a class="el" href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122" title="Returns whether extended statistics mode is enabled.">extended()</a> == false</code>): Only stores loop closure and last signature ID fields</li>
<li><b>Extended mode</b> (<code><a class="el" href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122" title="Returns whether extended statistics mode is enabled.">extended()</a> == true</code>): Stores all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information</li>
</ul>
<p><a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> can be serialized to/from strings for storage in databases or transmission over networks.</p>
<dl class="section note"><dt>Note</dt><dd><a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> are typically created by RTAB-Map's core components (<a class="el" href="classrtabmap_1_1Rtabmap.html" title="Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).">Rtabmap</a>, <a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a>, etc.) and can be retrieved for analysis, visualization, or debugging purposes. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00107">107</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a5f5bf8e57410944ec46be25a5bf8ab46">&#9670;&#160;</a></span>Statistics()</h2>
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<p>Default constructor. </p>
<p>Creates a new <a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> object in basic mode (extended = false). Initializes all ID fields to 0 or -1, and timestamp to 0.0.</p>
<dl class="section note"><dt>Note</dt><dd>The first <a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> object constructed will initialize the default data map. </dd></dl>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a917322822da5565f5c7438849f307c4f">&#9670;&#160;</a></span>defaultData()</h2>
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<td class="memname">static const std::map&lt; std::string, float &gt; &amp; rtabmap::Statistics::defaultData </td>
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<p>Returns the default statistics data map. </p>
<p>Returns a map containing all predefined statistics with their default values (0.0). This map is initialized when the first <a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> object is constructed.</p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the default statistics data map </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ab34cfba17216b060f57e106d7c169685">&#9670;&#160;</a></span>serializeData()</h2>
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<td class="paramtype">const std::map&lt; std::string, float &gt; &amp;&#160;</td>
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<p>Serializes a statistics data map to a string. </p>
<p>Converts a statistics data map into a serialized string format suitable for storage or transmission. The format is: "key1:value1;key2:value2;..." where values are formatted as numbers with dots (not commas) as decimal separators (independent of the system's locale).</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">data</td><td>The statistics data map to serialize </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Serialized string representation of the data</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Empty maps result in empty strings </dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Statistics.html#a167ea0c3bc76865e90624323e72399c7" title="Deserializes a statistics data map from a string.">deserializeData()</a> </dd></dl>
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<p>Deserializes a statistics data map from a string. </p>
<p>Parses a serialized statistics string back into a data map. The string format should be: "key1:value1;key2:value2;..." as produced by <a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685" title="Serializes a statistics data map to a string.">serializeData()</a>.</p>
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<tr><td class="paramname">data</td><td>The serialized string to parse </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Deserialized statistics data map</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Invalid entries (missing colons, malformed values) are silently skipped </dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685" title="Serializes a statistics data map to a string.">serializeData()</a> </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a24d85beaf52fd03ad67c6d9d417efd79">&#9670;&#160;</a></span>addStatistic()</h2>
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<td class="memname">void rtabmap::Statistics::addStatistic </td>
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<p>Adds a statistic value to the data map. </p>
<p>Adds or updates a statistic in the internal data map. The name should follow the format "Group/Name/Unit" (e.g., "Timing/Total time/ms").</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">name</td><td>The statistic name in the format "Group/Name/Unit" </td></tr>
<tr><td class="paramname">value</td><td>The statistic value to store</td></tr>
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<dl class="section note"><dt>Note</dt><dd>If a statistic with the same name already exists, it will be overwritten. </dd>
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Use the static methods generated by RTABMAP_STATS() to get standardized names: <div class="fragment"><div class="line">statistics.addStatistic(Statistics::kTimingTotal(), 500.0f);</div>
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<p>Sets whether extended statistics mode is enabled. </p>
<p>In basic mode (extended = false), only loop closure and last signature ID fields are filled. In extended mode (extended = true), all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information are stored.</p>
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<tr><td class="paramname">extended</td><td>True to enable extended mode, false for basic mode </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00367">367</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4fa0c5aafea26effea2ed63d5bf3a31f">&#9670;&#160;</a></span>setRefImageId()</h2>
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<p>Sets the reference image ID (current/last processed signature ID) </p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00373">373</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Sets the reference image map ID. </p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00379">379</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Sets the loop closure detection ID. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">id</td><td>The signature ID where a loop closure was detected (0 if none) </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00385">385</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3b92ac9f165c77b2cc92f3fc6d7242cd">&#9670;&#160;</a></span>setLoopClosureMapId()</h2>
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<td class="memname">void rtabmap::Statistics::setLoopClosureMapId </td>
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<td class="paramtype">int&#160;</td>
<td class="paramname"><em>id</em></td><td>)</td>
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<p>Sets the loop closure map ID. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">id</td><td>The map ID associated with the loop closure </td></tr>
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</dd>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00391">391</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a25b8a9b50054a80dc09423b6fe9f68ff">&#9670;&#160;</a></span>setProximityDetectionId()</h2>
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<td class="memname">void rtabmap::Statistics::setProximityDetectionId </td>
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<p>Sets the proximity detection ID. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">id</td><td>The signature ID where proximity was detected (0 if none) </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00397">397</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5e6df533a3c7a70d0391f7fe129e5eef">&#9670;&#160;</a></span>setProximityDetectionMapId()</h2>
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<td class="memname">void rtabmap::Statistics::setProximityDetectionMapId </td>
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<p>Sets the proximity detection map ID. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">id</td><td>The map ID associated with the proximity detection </td></tr>
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</dd>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00403">403</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a12bfc3ce8eb232a6ac3942af504bedef">&#9670;&#160;</a></span>setStamp()</h2>
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<td class="memname">void rtabmap::Statistics::setStamp </td>
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<p>Sets the timestamp for these statistics. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">stamp</td><td>The timestamp (typically in seconds since epoch) </td></tr>
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</dd>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00409">409</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae5de0aae15a10ed18cc30c2656bd4d6a">&#9670;&#160;</a></span>setLastSignatureData()</h2>
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<td class="memname">RTABMAP_DEPRECATED void rtabmap::Statistics::setLastSignatureData </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &amp;&#160;</td>
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<p>Sets the last signature data (deprecated) </p>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000015">Deprecated:</a></b></dt><dd>Use <a class="el" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd" title="Adds signature data to the statistics.">addSignatureData()</a> instead </dd></dl>
<p>This method is deprecated. Use <a class="el" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd" title="Adds signature data to the statistics.">addSignatureData()</a> instead, which allows storing multiple signatures. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a55748a17bc6348a83dc184fb1b2631fd">&#9670;&#160;</a></span>addSignatureData()</h2>
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<p>Adds signature data to the statistics. </p>
<p>Adds a signature to the internal signatures data map. Multiple signatures can be stored, indexed by their ID.</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">data</td><td>The signature to add</td></tr>
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<dl class="section note"><dt>Note</dt><dd>If a signature with the same ID already exists, it will be overwritten. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00430">430</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad23568ea07d4ad167fcbd83a9083a2ef">&#9670;&#160;</a></span>setSignaturesData()</h2>
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<td class="memname">void rtabmap::Statistics::setSignaturesData </td>
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<td class="paramtype">const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;&#160;</td>
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<p>Sets all signature data at once. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">data</td><td>Map of signature IDs to <a class="el" href="classrtabmap_1_1Signature.html" title="Represents a node in RTAB-Map&#39;s pose graph.">Signature</a> objects </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00436">436</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#acf7df1c7a8958a24988239fc40ece1ea">&#9670;&#160;</a></span>setPoses()</h2>
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<td class="memname">void rtabmap::Statistics::setPoses </td>
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<p>Sets the pose graph (node poses) </p>
<p>Sets the complete pose graph, mapping node IDs to their <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> poses. Used in extended mode for visualization and analysis.</p>
<dl class="params"><dt>Parameters</dt><dd>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00446">446</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac4761222db6faee6c34c53c1d4d00ec2">&#9670;&#160;</a></span>setConstraints()</h2>
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<p>Sets the constraint graph (links between nodes) </p>
<p>Sets the complete constraint graph, mapping node IDs to their <a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> constraints. Used in extended mode for visualization and analysis.</p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00456">456</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6a70e49f42639395a89edbde4659bf88">&#9670;&#160;</a></span>setMapCorrection()</h2>
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<p>Sets the map correction transform. </p>
<p>The map correction transform represents the transformation from the map fixed frame to the odometry fixed frame. This transform is typically updated after graph optimization to transform the odometry pose in map frame.</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">mapCorrection</td><td>The pose of odometry frame in map coordinate system </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00467">467</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac323334656165fd230cbe396836c6939">&#9670;&#160;</a></span>setLoopClosureTransform()</h2>
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<p>Sets the loop closure transform. </p>
<p>The transform between the current pose and the loop closure pose.</p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00476">476</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a747aee7cd90f8318de6d0b82bedcd971">&#9670;&#160;</a></span>setLocalizationCovariance()</h2>
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<p>Sets the localization covariance matrix. </p>
<p>The covariance matrix representing the uncertainty in the current localization estimate.</p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00485">485</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aaa519c598aa7a56eda73653ab34d6b48">&#9670;&#160;</a></span>setLabels()</h2>
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<p>Sets node labels. </p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00491">491</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a918d447083cfcea3ab040e985461ae45">&#9670;&#160;</a></span>setWeights()</h2>
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<p>Sets node weights. </p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00497">497</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a915bb9bd90193a92f565f56024d61586">&#9670;&#160;</a></span>setPosterior()</h2>
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<p>Sets posterior probabilities for loop closure hypotheses. </p>
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<tr><td class="paramname">posterior</td><td>Map of node IDs to their posterior probabilities </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00504">504</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8988eb66288df6a4d676b3cbd7b3a7ff">&#9670;&#160;</a></span>setLikelihood()</h2>
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<td class="memname">void rtabmap::Statistics::setLikelihood </td>
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<td class="paramtype">const std::map&lt; int, float &gt; &amp;&#160;</td>
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<p>Sets likelihood values for loop closure hypotheses. </p>
<p>Likelihood values represent how well each hypothesis matches the current observation.</p>
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<tr><td class="paramname">likelihood</td><td>Map of node IDs to their likelihood values </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00513">513</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a20a3634b3fbd36d86b1803f7427b105f">&#9670;&#160;</a></span>setRawLikelihood()</h2>
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<td class="memname">void rtabmap::Statistics::setRawLikelihood </td>
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<td class="paramname"><em>rawLikelihood</em></td><td>)</td>
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<p>Sets raw likelihood values (before normalization) </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">rawLikelihood</td><td>Map of node IDs to their raw likelihood values </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00519">519</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3c80bf518d943d9b86e5088a9269b455">&#9670;&#160;</a></span>setLocalPath()</h2>
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<td class="memname">void rtabmap::Statistics::setLocalPath </td>
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<td class="paramname"><em>localPath</em></td><td>)</td>
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<p>Sets the local path (sequence of node IDs) </p>
<p>The local path represents the sequence of next nodes to visit for path planning.</p>
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<tr><td class="paramname">localPath</td><td>Vector of node IDs in order of next nodes to visit </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00528">528</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a845a35143a149c9670fb46938594fcb9">&#9670;&#160;</a></span>setCurrentGoalId()</h2>
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<p>Sets the current goal node ID. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">goal</td><td>The goal node ID (0 if no goal) </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00534">534</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#abf88d8f411f811549d91d29a5b78d308">&#9670;&#160;</a></span>setReducedIds()</h2>
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<td class="paramname"><em>reducedIds</em></td><td>)</td>
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<p>Sets the reduced IDs mapping. </p>
<p>Maps original node IDs to reduced IDs, used for memory optimization.</p>
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<tr><td class="paramname">reducedIds</td><td>Map of original IDs to reduced IDs </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00543">543</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa43870ba13369f23c122bff62f6654c8">&#9670;&#160;</a></span>setWmState()</h2>
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<td class="memname">void rtabmap::Statistics::setWmState </td>
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<td class="paramname"><em>state</em></td><td>)</td>
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<p>Sets the working memory state. </p>
<p>The working memory state is a vector of node IDs currently in working memory.</p>
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<tr><td class="paramname">state</td><td>Vector of node IDs in working memory </td></tr>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00552">552</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6032903dc163f7bc5d36c0520ccdfcef">&#9670;&#160;</a></span>setOdomCachePoses()</h2>
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<td class="memname">void rtabmap::Statistics::setOdomCachePoses </td>
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<p>Sets odometry cache poses. </p>
<p>Cached odometry poses during localization mode.</p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00561">561</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae3d58759c1cc237b2e297c2c5f608725">&#9670;&#160;</a></span>setOdomCacheConstraints()</h2>
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<td class="memname">void rtabmap::Statistics::setOdomCacheConstraints </td>
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<p>Sets odometry cache constraints. </p>
<p>Cached odometry constraints (links) between nodes.</p>
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<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00570">570</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1e1ba8f7429fa212aa32897877dec122">&#9670;&#160;</a></span>extended()</h2>
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<p>Returns whether extended statistics mode is enabled. </p>
<dl class="section return"><dt>Returns</dt><dd>True if extended mode, false if basic mode </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00578">578</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4ba41e262e2af21bfb2c9d1b6e493d6d">&#9670;&#160;</a></span>refImageId()</h2>
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<p>Returns the reference image ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The signature ID (0 if not set) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00584">584</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a45abfdd8f164e0c457d64b80919d5052">&#9670;&#160;</a></span>refImageMapId()</h2>
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<p>Returns the reference image map ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The map ID (-1 if not set) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00590">590</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6a81189f2327a8b8f05a5f93d68fa3b7">&#9670;&#160;</a></span>loopClosureId()</h2>
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<p>Returns the loop closure detection ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The signature ID where loop closure was detected (0 if none) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00596">596</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Returns the loop closure map ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The map ID associated with the loop closure (-1 if not set) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00602">602</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a0aeff90b40410ef769e63ef6b000328b">&#9670;&#160;</a></span>proximityDetectionId()</h2>
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<p>Returns the proximity detection ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The signature ID where proximity was detected (0 if none) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00608">608</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Returns the proximity detection map ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The map ID associated with the proximity detection (-1 if not set) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00614">614</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Returns the timestamp. </p>
<dl class="section return"><dt>Returns</dt><dd>The timestamp (0.0 if not set) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00620">620</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a582cb4d6d0b3034062d508a6cac77081">&#9670;&#160;</a></span>getLastSignatureData()</h2>
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<p>Returns the last signature data. </p>
<p>Returns the most recently added signature (by ID). If no signatures are stored, returns a dummy empty signature.</p>
<dl class="section return"><dt>Returns</dt><dd>Reference to the last signature data </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00630">630</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Returns all signature data. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of signature IDs to <a class="el" href="classrtabmap_1_1Signature.html" title="Represents a node in RTAB-Map&#39;s pose graph.">Signature</a> objects </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00636">636</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#acb80fff8690d88228ebda369e0e06289">&#9670;&#160;</a></span>poses()</h2>
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<p>Returns the pose graph. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to poses </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00642">642</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a30275a92af2f9fb08f3955c5b9e8b661">&#9670;&#160;</a></span>constraints()</h2>
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<p>Returns the constraint graph. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the multimap of node IDs to links </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00648">648</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a775992631cd8d976a94ea6c1560dad0d">&#9670;&#160;</a></span>mapCorrection()</h2>
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<p>Returns the map correction transform. </p>
<p>Returns the transform from the map fixed frame to the odometry fixed frame.</p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map correction transform </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00657">657</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a38c88cb8327baa290bf476326d24b54c">&#9670;&#160;</a></span>loopClosureTransform()</h2>
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<p>Returns the loop closure transform. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the loop closure transform </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00663">663</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4c05e2dd7412e875333f3edea70ffbb3">&#9670;&#160;</a></span>localizationCovariance()</h2>
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<p>Returns the localization covariance matrix. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the covariance matrix (may be empty) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00669">669</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#afeb2fd18d35f6a760ffa46ca0ebe4e49">&#9670;&#160;</a></span>labels()</h2>
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<p>Returns node labels. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to labels </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00675">675</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Returns node weights. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to weights </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00681">681</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac50fb91120fdc16266460678088ac12f">&#9670;&#160;</a></span>posterior()</h2>
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<p>Returns posterior probabilities. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to posterior probabilities </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00687">687</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4f3492b5cf6ff082d0061c9d7c67536f">&#9670;&#160;</a></span>likelihood()</h2>
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<p>Returns likelihood values. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to likelihood values </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00693">693</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a472f50deace411e1fbbef95f4fb698de">&#9670;&#160;</a></span>rawLikelihood()</h2>
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<p>Returns raw likelihood values. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to raw likelihood values </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00699">699</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a82f7c8f962fd5fcea9a5d4fc087cb2ce">&#9670;&#160;</a></span>localPath()</h2>
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<p>Returns the local path. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the vector of node IDs </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00705">705</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#adae0424da0557be95b6968eecdbc628e">&#9670;&#160;</a></span>currentGoalId()</h2>
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<p>Returns the current goal node ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The goal node ID (0 if no goal) </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00711">711</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8c1e9a5c04232909f62447656d6bcbce">&#9670;&#160;</a></span>reducedIds()</h2>
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<p>Returns the reduced IDs mapping. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of original IDs to reduced IDs </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00717">717</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a0b0bb69d788a142a7b51ae2e916798b6">&#9670;&#160;</a></span>wmState()</h2>
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<p>Returns the working memory state. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the vector of node IDs in working memory </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00723">723</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8d88d70935ef4e110cd2c92b07ed74b2">&#9670;&#160;</a></span>odomCachePoses()</h2>
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<p>Returns odometry cache poses. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to cached odometry poses </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00729">729</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<p>Returns odometry cache constraints. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the multimap of node IDs to cached odometry links </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00735">735</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ab5c8be76435cdfb98c656ccc236f029a">&#9670;&#160;</a></span>data()</h2>
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<p>Returns the statistics data map. </p>
<p>Returns the map containing all plottable statistics in the format "Group/Name/Unit" -&gt; value. This is the main data structure for storing numeric statistics.</p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the statistics data map</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use <a class="el" href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79" title="Adds a statistic value to the data map.">addStatistic()</a> to add values to this map </dd>
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Use <a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685" title="Serializes a statistics data map to a string.">serializeData()</a> to convert this map to a string for storage </dd></dl>
<p class="definition">Definition at line <a class="el" href="Statistics_8h_source.html#l00748">748</a> of file <a class="el" href="Statistics_8h_source.html">Statistics.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="Statistics_8h_source.html">Statistics.h</a></li>
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