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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span>{</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="foldopen" id="foldopen00049" data-start="{" data-end="};">
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html"> 49</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span>{</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a64ce7c97214265e24e00e3888b85f967"> 58</a></span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a64ce7c97214265e24e00e3888b85f967">VisualWord</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> cv::Mat &amp; descriptor, <span class="keywordtype">int</span> signatureId = 0);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#adc2dc719d2e6ed06ff92a2370d9955b2"> 63</a></span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#adc2dc719d2e6ed06ff92a2370d9955b2">~VisualWord</a>();</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a5826c6a57f9115e6766bb60e2628fe30"> 69</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a5826c6a57f9115e6766bb60e2628fe30">addRef</a>(<span class="keywordtype">int</span> signatureId);</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a63364292bdd9921668187b16c2e0457e"> 76</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a63364292bdd9921668187b16c2e0457e">removeAllRef</a>(<span class="keywordtype">int</span> signatureId);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#ad23c14c1c81848fb42573fd5ceac3a42"> 82</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#ad23c14c1c81848fb42573fd5ceac3a42">getMemoryUsed</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a2eaf9703feb310a1038fcd6c8341a1d3"> 88</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a2eaf9703feb310a1038fcd6c8341a1d3">getTotalReferences</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _totalReferences;}</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a988fd37d739297c9b04c7dc156de3c66"> 94</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a988fd37d739297c9b04c7dc156de3c66">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _id;}</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a2d20ce6234dc211335a926759e111bbb"> 100</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a2d20ce6234dc211335a926759e111bbb">getDescriptor</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _descriptor;}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#aef73a60eccd61a917f27bf277366a5bc"> 106</a></span> <span class="keyword">const</span> std::map&lt;int, int&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#aef73a60eccd61a917f27bf277366a5bc">getReferences</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _references;}</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a4a4d316a18741c30c8d2d5db50f3c4e7"> 112</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a4a4d316a18741c30c8d2d5db50f3c4e7">isSaved</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _saved;}</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1VisualWord.html#a58f7ff50ca24f1586bf3fdf5999d6184"> 118</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1VisualWord.html#a58f7ff50ca24f1586bf3fdf5999d6184">setSaved</a>(<span class="keywordtype">bool</span> saved) {_saved = saved;}</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">int</span> _id; </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> cv::Mat _descriptor; </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">bool</span> _saved; </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">int</span> _totalReferences; </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> std::map&lt;int, int&gt; _references; </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span>};</div>
</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html">rtabmap::VisualWord</a></div><div class="ttdoc">Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00049">VisualWord.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a2d20ce6234dc211335a926759e111bbb"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a2d20ce6234dc211335a926759e111bbb">rtabmap::VisualWord::getDescriptor</a></div><div class="ttdeci">const cv::Mat &amp; getDescriptor() const</div><div class="ttdoc">Returns the feature descriptor of this word.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00100">VisualWord.h:100</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a2eaf9703feb310a1038fcd6c8341a1d3"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a2eaf9703feb310a1038fcd6c8341a1d3">rtabmap::VisualWord::getTotalReferences</a></div><div class="ttdeci">int getTotalReferences() const</div><div class="ttdoc">Returns the total number of references (across all signatures).</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00088">VisualWord.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a4a4d316a18741c30c8d2d5db50f3c4e7"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a4a4d316a18741c30c8d2d5db50f3c4e7">rtabmap::VisualWord::isSaved</a></div><div class="ttdeci">bool isSaved() const</div><div class="ttdoc">Checks if the word has been saved to the database.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00112">VisualWord.h:112</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a5826c6a57f9115e6766bb60e2628fe30"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a5826c6a57f9115e6766bb60e2628fe30">rtabmap::VisualWord::addRef</a></div><div class="ttdeci">void addRef(int signatureId)</div><div class="ttdoc">Adds a reference to this word for the given signature ID.</div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a58f7ff50ca24f1586bf3fdf5999d6184"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a58f7ff50ca24f1586bf3fdf5999d6184">rtabmap::VisualWord::setSaved</a></div><div class="ttdeci">void setSaved(bool saved)</div><div class="ttdoc">Sets the saved flag for the word.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00118">VisualWord.h:118</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a63364292bdd9921668187b16c2e0457e"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a63364292bdd9921668187b16c2e0457e">rtabmap::VisualWord::removeAllRef</a></div><div class="ttdeci">int removeAllRef(int signatureId)</div><div class="ttdoc">Removes all references to this word for the given signature ID.</div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a64ce7c97214265e24e00e3888b85f967"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a64ce7c97214265e24e00e3888b85f967">rtabmap::VisualWord::VisualWord</a></div><div class="ttdeci">VisualWord(int id, const cv::Mat &amp;descriptor, int signatureId=0)</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_a988fd37d739297c9b04c7dc156de3c66"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#a988fd37d739297c9b04c7dc156de3c66">rtabmap::VisualWord::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">Returns the ID of this visual word.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00094">VisualWord.h:94</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_ad23c14c1c81848fb42573fd5ceac3a42"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#ad23c14c1c81848fb42573fd5ceac3a42">rtabmap::VisualWord::getMemoryUsed</a></div><div class="ttdeci">unsigned long getMemoryUsed() const</div><div class="ttdoc">Estimates the memory used by this visual word in bytes.</div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_adc2dc719d2e6ed06ff92a2370d9955b2"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#adc2dc719d2e6ed06ff92a2370d9955b2">rtabmap::VisualWord::~VisualWord</a></div><div class="ttdeci">~VisualWord()</div><div class="ttdoc">Destructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html_aef73a60eccd61a917f27bf277366a5bc"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html#aef73a60eccd61a917f27bf277366a5bc">rtabmap::VisualWord::getReferences</a></div><div class="ttdeci">const std::map&lt; int, int &gt; &amp; getReferences() const</div><div class="ttdoc">Returns the references of this word.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00106">VisualWord.h:106</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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