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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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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef DBDRIVER_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define DBDRIVER_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &quot;rtabmap/utilite/UMutex.h&quot;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &quot;<a class="code" href="UThreadNode_8h.html">rtabmap/utilite/UThreadNode.h</a>&quot;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &quot;rtabmap/core/Parameters.h&quot;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include &quot;rtabmap/core/SensorData.h&quot;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include &lt;rtabmap/core/Statistics.h&gt;</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include &lt;rtabmap/core/Link.h&gt;</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="keyword">class </span>Signature;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">class </span>VWDictionary;</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">class </span>VisualWord;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> </div>
<div class="foldopen" id="foldopen00071" data-start="{" data-end="};">
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html"> 71</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThreadNode</a></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span>{</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9"> 79</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">~DBDriver</a>();</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a"> 90</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a">isInMemory</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _url.empty();}</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab"> 92</a></span> <span class="keyword">const</span> std::string &amp; <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab">getUrl</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _url;}</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1"> 94</a></span> <span class="keyword">const</span> std::string &amp; <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1">getTargetVersion</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _targetVersion;}</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f"> 108</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">asyncSave</a>(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * s);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d"> 110</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d">asyncSave</a>(<a class="code hl_class" href="classrtabmap_1_1VisualWord.html">VisualWord</a> * vw);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a"> 115</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a">emptyTrashes</a>(<span class="keywordtype">bool</span> async = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">double</span> getEmptyTrashesTime()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyTrashesTime;}</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">void</span> setTimestampUpdateEnabled(<span class="keywordtype">bool</span> enabled) {_timestampUpdate = enabled;} <span class="comment">// used on Update Signature and Word queries</span></div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230"> 126</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230">generateGraph</a>(</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">const</span> std::string &amp; fileName,</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keyword">const</span> std::set&lt;int&gt; &amp; ids = std::set&lt;int&gt;(),</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">const</span> std::map&lt;int, Signature *&gt; &amp; otherSignatures = std::map&lt;int, Signature *&gt;());</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b"> 137</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b">addLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link);</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717"> 139</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717">removeLink</a>(<span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to);</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80"> 141</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80">updateLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link);</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61"> 149</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61">updateOccupancyGrid</a>(</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> cv::Point3f &amp; viewpoint);</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1"> 157</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1">updateCalibration</a>(</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models,</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoModels);</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811"> 167</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811">updateDepthImage</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> cv::Mat &amp; image, <span class="keyword">const</span> std::string &amp; format);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b"> 173</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b">updateLaserScan</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; scan);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">void</span> addInfoAfterRun(<span class="keywordtype">int</span> stMemSize, <span class="keywordtype">int</span> lastSignAdded, <span class="keywordtype">int</span> processMemUsed, <span class="keywordtype">int</span> databaseMemUsed, <span class="keywordtype">int</span> dictionarySize, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832"> 187</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832">addStatistics</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> &amp; statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170"> 193</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170">savePreviewImage</a>(<span class="keyword">const</span> cv::Mat &amp; image) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82"> 195</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82">loadPreviewImage</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4"> 197</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4">saveOptimizedPoses</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; lastlocalizationPose) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55"> 199</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55">loadOptimizedPoses</a>(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037"> 201</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037">save2DMap</a>(<span class="keyword">const</span> cv::Mat &amp; map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a"> 203</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a">load2DMap</a>(<span class="keywordtype">float</span> &amp; xMin, <span class="keywordtype">float</span> &amp; yMin, <span class="keywordtype">float</span> &amp; cellSize) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39"> 211</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39">saveOptimizedMesh</a>(</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keyword">const</span> cv::Mat &amp; cloud,</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;std::vector&lt;RTABMAP_PCL_INDEX&gt; &gt; &gt; &amp; polygons = std::vector&lt;std::vector&lt;std::vector&lt;RTABMAP_PCL_INDEX&gt; &gt; &gt;(), <span class="comment">// Textures -&gt; polygons -&gt; vertices</span></div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(&gt;=, 1, 8, 0)</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt; &amp; texCoords = std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt;(), <span class="comment">// Textures -&gt; uv coords for each vertex of the polygons</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span>#<span class="keywordflow">else</span></div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;Eigen::Vector2f&gt; &gt; &amp; texCoords = std::vector&lt;std::vector&lt;Eigen::Vector2f&gt; &gt;(), <span class="comment">// Textures -&gt; uv coords for each vertex of the polygons</span></div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span>#endif</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keyword">const</span> cv::Mat &amp; textures = cv::Mat()) <span class="keyword">const</span>; <span class="comment">// concatenated textures (assuming square textures with all same size);</span></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> cv::Mat loadOptimizedMesh(</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> std::vector&lt;std::vector&lt;std::vector&lt;RTABMAP_PCL_INDEX&gt; &gt; &gt; * polygons = 0,</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(&gt;=, 1, 8, 0)</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt; * texCoords = 0,</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span>#<span class="keywordflow">else</span></div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> std::vector&lt;std::vector&lt;Eigen::Vector2f&gt; &gt; * texCoords = 0,</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span>#endif</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> cv::Mat * textures = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea"> 233</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea">saveFlannIndex</a>(<span class="keyword">const</span> std::vector&lt;unsigned char&gt; &amp; indexData) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5"> 242</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5">openConnection</a>(<span class="keyword">const</span> std::string &amp; url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f"> 244</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f">closeConnection</a>(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string &amp; outputUrl = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85"> 246</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85">isConnected</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsed() <span class="keyword">const</span>; <span class="comment">// In bytes</span></div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264"> 249</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264">getDatabaseVersion</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordtype">long</span> getNodesMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">long</span> getLinksMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordtype">long</span> getImagesMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">long</span> getGridsMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keywordtype">long</span> getLaserScansMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordtype">long</span> getUserDataMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordtype">long</span> getWordsMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordtype">long</span> getFeaturesMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordtype">long</span> getStatisticsMemoryUsed() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keywordtype">int</span> getLastNodesSize() <span class="keyword">const</span>; <span class="comment">// working memory</span></div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordtype">int</span> getLastDictionarySize() <span class="keyword">const</span>; <span class="comment">// working memory</span></div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordtype">int</span> getTotalNodesSize() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordtype">int</span> getTotalDictionarySize() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParameters() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> std::map&lt;std::string, float&gt; getStatistics(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> &amp; stamp, std::vector&lt;int&gt; * wmState=0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> std::map&lt;int, std::pair&lt;std::map&lt;std::string, float&gt;, <span class="keywordtype">double</span>&gt; &gt; getAllStatistics() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> std::map&lt;int, std::vector&lt;int&gt; &gt; getAllStatisticsWmStates() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8"> 286</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8">executeNoResult</a>(<span class="keyword">const</span> std::string &amp; sql) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> </div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="comment">// Load objects</span></div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keywordtype">void</span> load(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> &amp; dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <span class="keywordtype">void</span> loadLastNodes(std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> loadWordIdsOnly = <span class="keyword">false</span>) <span class="keyword">const</span>; <span class="comment">// returned signatures must be freed after usage</span></div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120"> 297</a></span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120">loadSignature</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">bool</span> * loadedFromTrash = 0); <span class="comment">// returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded</span></div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keywordtype">void</span> loadSignatures(<span class="keyword">const</span> std::list&lt;int&gt; &amp; ids, std::list&lt;Signature *&gt; &amp; signatures, std::set&lt;int&gt; * loadedFromTrash = 0, <span class="keywordtype">bool</span> loadWordIdsOnly = <span class="keyword">false</span>); <span class="comment">// returned signatures must be freed after usage</span></div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">void</span> loadWords(<span class="keyword">const</span> std::set&lt;int&gt; &amp; wordIds, std::list&lt;VisualWord *&gt; &amp; vws); <span class="comment">// returned words must be freed after usage</span></div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> </div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="comment">// Specific queries...</span></div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keywordtype">void</span> loadNodeData(<a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; signature, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keywordtype">void</span> loadNodeData(std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keywordtype">void</span> getNodeData(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordtype">bool</span> getCalibration(<span class="keywordtype">int</span> signatureId, std::vector&lt;CameraModel&gt; &amp; models, std::vector&lt;StereoCameraModel&gt; &amp; stereoModels) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">bool</span> getLaserScanInfo(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; info) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">bool</span> getNodeInfo(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keywordtype">int</span> &amp; mapId, <span class="keywordtype">int</span> &amp; weight, std::string &amp; label, <span class="keywordtype">double</span> &amp; stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; groundTruthPose, std::vector&lt;float&gt; &amp; velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; sensors) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">void</span> getLocalFeatures(<span class="keywordtype">int</span> signatureId, std::multimap&lt;int, int&gt; &amp; words, std::vector&lt;cv::KeyPoint&gt; &amp; keypoints, std::vector&lt;cv::Point3f&gt; &amp; points, cv::Mat &amp; descriptors) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d"> 310</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d">loadLinks</a>(<span class="keywordtype">int</span> signatureId, std::multimap&lt;int, Link&gt; &amp; links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordtype">void</span> getWeight(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> &amp; weight) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">void</span> getLastNodeIds(std::set&lt;int&gt; &amp; ids) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">void</span> getAllNodeIds(std::set&lt;int&gt; &amp; ids, <span class="keywordtype">bool</span> ignoreChildren = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreBadSignatures = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">void</span> getAllOdomPoses(std::map&lt;int, Transform&gt; &amp; poses, <span class="keywordtype">bool</span> ignoreChildren = <span class="keyword">false</span>, <span class="keywordtype">bool</span> ignoreIntermediateNodes = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">void</span> getAllLinks(std::multimap&lt;int, Link&gt; &amp; links, <span class="keywordtype">bool</span> ignoreNullLinks = <span class="keyword">true</span>, <span class="keywordtype">bool</span> withLandmarks = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">void</span> getLastNodeId(<span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordtype">void</span> getLastMapId(<span class="keywordtype">int</span> &amp; mapId) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">void</span> getLastWordId(<span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">void</span> getInvertedIndexNi(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> &amp; ni) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">void</span> getNodesObservingLandmark(<span class="keywordtype">int</span> landmarkId, std::map&lt;int, Link&gt; &amp; nodes) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordtype">void</span> getNodeIdByLabel(<span class="keyword">const</span> std::string &amp; label, <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keywordtype">void</span> getAllLabels(std::map&lt;int, std::string&gt; &amp; labels) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e"> 329</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e">DBDriver</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> </div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> connectDatabaseQuery(<span class="keyword">const</span> std::string &amp; url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>) = 0;</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> disconnectDatabaseQuery(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string &amp; outputUrl = <span class="stringliteral">&quot;&quot;</span>) = 0;</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isConnectedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsedQuery() <span class="keyword">const</span> = 0; <span class="comment">// In bytes</span></div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getDatabaseVersionQuery(std::string &amp; version) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getNodesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLinksMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getGridsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLaserScansMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getUserDataMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getWordsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getFeaturesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getStatisticsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">virtual</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParametersQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">virtual</span> std::map&lt;std::string, float&gt; getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> &amp; stamp, std::vector&lt;int&gt; * wmState) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">virtual</span> std::map&lt;int, std::pair&lt;std::map&lt;std::string, float&gt;, <span class="keywordtype">double</span>&gt; &gt; getAllStatisticsQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keyword">virtual</span> std::map&lt;int, std::vector&lt;int&gt; &gt; getAllStatisticsWmStatesQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> </div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> executeNoResultQuery(<span class="keyword">const</span> std::string &amp; sql) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> </div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getWeightQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> &amp; weight) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> </div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list&lt;Signature *&gt; &amp; signatures) = 0;</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list&lt;VisualWord *&gt; &amp; words) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list&lt;VisualWord *&gt; &amp; words, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> </div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> </div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateOccupancyGridQuery(</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">const</span> cv::Point3f &amp; viewpoint) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> </div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateCalibrationQuery(</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models,</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoModels) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> </div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateDepthImageQuery(</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> cv::Mat &amp; image,</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keyword">const</span> std::string &amp; format) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> </div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLaserScanQuery(</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; scan) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addStatisticsQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> &amp; statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> savePreviewImageQuery(<span class="keyword">const</span> cv::Mat &amp; image) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">virtual</span> cv::Mat loadPreviewImageQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedPosesQuery(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; lastlocalizationPose) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; loadOptimizedPosesQuery(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> save2DMapQuery(<span class="keyword">const</span> cv::Mat &amp; map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keyword">virtual</span> cv::Mat load2DMapQuery(<span class="keywordtype">float</span> &amp; xMin, <span class="keywordtype">float</span> &amp; yMin, <span class="keywordtype">float</span> &amp; cellSize) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedMeshQuery(</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">const</span> cv::Mat &amp; cloud,</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;std::vector&lt;RTABMAP_PCL_INDEX&gt; &gt; &gt; &amp; polygons,</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(&gt;=, 1, 8, 0)</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt; &amp; texCoords,</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span>#<span class="keywordflow">else</span></div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;Eigen::Vector2f&gt; &gt; &amp; texCoords,</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span>#endif</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <span class="keyword">const</span> cv::Mat &amp; textures) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keyword">virtual</span> cv::Mat loadOptimizedMeshQuery(</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> std::vector&lt;std::vector&lt;std::vector&lt;RTABMAP_PCL_INDEX&gt; &gt; &gt; * polygons,</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(&gt;=, 1, 8, 0)</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt; * texCoords,</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span>#<span class="keywordflow">else</span></div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> std::vector&lt;std::vector&lt;Eigen::Vector2f&gt; &gt; * texCoords,</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span>#endif</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> cv::Mat * textures) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveFlannIndexQuery(<span class="keyword">const</span> std::vector&lt;unsigned char&gt; &amp; indexData) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> </div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="comment">// Load objects</span></div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadQuery(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> &amp; dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLastNodesQuery(std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadSignaturesQuery(<span class="keyword">const</span> std::list&lt;int&gt; &amp; ids, std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadWordsQuery(<span class="keyword">const</span> std::set&lt;int&gt; &amp; wordIds, std::list&lt;VisualWord *&gt; &amp; vws) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLinksQuery(<span class="keywordtype">int</span> signatureId, std::multimap&lt;int, Link&gt; &amp; links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> </div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadNodeDataQuery(std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> images=<span class="keyword">true</span>, <span class="keywordtype">bool</span> scan=<span class="keyword">true</span>, <span class="keywordtype">bool</span> userData=<span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid=<span class="keyword">true</span>) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getCalibrationQuery(<span class="keywordtype">int</span> signatureId, std::vector&lt;CameraModel&gt; &amp; models, std::vector&lt;StereoCameraModel&gt; &amp; stereoModels) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getLaserScanInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; info) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getNodeInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keywordtype">int</span> &amp; mapId, <span class="keywordtype">int</span> &amp; weight, std::string &amp; label, <span class="keywordtype">double</span> &amp; stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; groundTruthPose, std::vector&lt;float&gt; &amp; velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; sensors) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLocalFeaturesQuery(<span class="keywordtype">int</span> signatureId, std::multimap&lt;int, int&gt; &amp; words, std::vector&lt;cv::KeyPoint&gt; &amp; keypoints, std::vector&lt;cv::Point3f&gt; &amp; points, cv::Mat &amp; descriptors) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastNodeIdsQuery(std::set&lt;int&gt; &amp; ids) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllNodeIdsQuery(std::set&lt;int&gt; &amp; ids, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreBadSignatures, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllOdomPosesQuery(std::map&lt;int, Transform&gt; &amp; poses, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLinksQuery(std::multimap&lt;int, Link&gt; &amp; links, <span class="keywordtype">bool</span> ignoreNullLinks, <span class="keywordtype">bool</span> withLandmarks) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastIdQuery(<span class="keyword">const</span> std::string &amp; tableName, <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string &amp; fieldName=<span class="stringliteral">&quot;id&quot;</span>) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getInvertedIndexNiQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> &amp; ni) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodesObservingLandmarkQuery(<span class="keywordtype">int</span> landmarkId, std::map&lt;int, Link&gt; &amp; nodes) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodeIdByLabelQuery(<span class="keyword">const</span> std::string &amp; label, <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLabelsQuery(std::map&lt;int, std::string&gt; &amp; labels) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keywordtype">void</span> beginTransaction() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keywordtype">void</span> commit() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="comment">//non-abstract methods</span></div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector&lt;Signature *&gt; &amp; signatures);</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector&lt;VisualWord *&gt; &amp; words) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> </div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="comment">//thread stuff</span></div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> </div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _transactionMutex;</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> std::map&lt;int, Signature *&gt; _trashSignatures;<span class="comment">//&lt;id, Signature*&gt;</span></div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> std::map&lt;int, VisualWord *&gt; _trashVisualWords; <span class="comment">//&lt;id, VisualWord*&gt;</span></div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _trashesMutex;</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dbSafeAccessMutex;</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _addSem;</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="keywordtype">double</span> _emptyTrashesTime;</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> std::string _url;</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> std::string _targetVersion;</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="keywordtype">bool</span> _timestampUpdate;</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span>};</div>
</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span>}</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> </div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span><span class="preprocessor">#endif </span><span class="comment">/* DBDRIVER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aUThreadNode_8h_html"><div class="ttname"><a href="UThreadNode_8h.html">UThreadNode.h</a></div><div class="ttdoc">Backward-compatible alias header for UThread.</div></div>
<div class="ttc" id="aclassUMutex_html"><div class="ttname"><a href="classUMutex.html">UMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00054">UMutex.h:55</a></div></div>
<div class="ttc" id="aclassUSemaphore_html"><div class="ttname"><a href="classUSemaphore.html">USemaphore</a></div><div class="ttdef"><b>Definition</b> <a href="USemaphore_8h_source.html#l00055">USemaphore.h:56</a></div></div>
<div class="ttc" id="aclassUThread_html"><div class="ttname"><a href="classUThread.html">UThread</a></div><div class="ttdef"><b>Definition</b> <a href="UThread_8h_source.html#l00086">UThread.h:87</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html">rtabmap::DBDriver</a></div><div class="ttdoc">Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00071">DBDriver.h:72</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a0a713d7a6dabdcfbb8d733dba2a20120"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120">rtabmap::DBDriver::loadSignature</a></div><div class="ttdeci">Signature * loadSignature(int id, bool *loadedFromTrash=0)</div><div class="ttdoc">Load one signature by id; caller must delete the returned pointer.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a0ecd6182f404d8e6822b66a54f1d248a"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a">rtabmap::DBDriver::isInMemory</a></div><div class="ttdeci">virtual bool isInMemory() const</div><div class="ttdoc">True when no database file URL was set at open time.</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00090">DBDriver.h:90</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a1f75e440b35243ccad645052bc4a12f9"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9">rtabmap::DBDriver::create</a></div><div class="ttdeci">static DBDriver * create(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Factory: returns a SQLite database driver (DBDriverSqlite3).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a22d5643353b8d49bcc94c5a4abbc9a39"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39">rtabmap::DBDriver::saveOptimizedMesh</a></div><div class="ttdeci">void saveOptimizedMesh(const cv::Mat &amp;cloud, const std::vector&lt; std::vector&lt; std::vector&lt; RTABMAP_PCL_INDEX &gt; &gt; &gt; &amp;polygons=std::vector&lt; std::vector&lt; std::vector&lt; RTABMAP_PCL_INDEX &gt; &gt; &gt;(), const std::vector&lt; std::vector&lt; Eigen::Vector2f &gt; &gt; &amp;texCoords=std::vector&lt; std::vector&lt; Eigen::Vector2f &gt; &gt;(), const cv::Mat &amp;textures=cv::Mat()) const</div><div class="ttdoc">Persist the global optimized 3D mesh to the database.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a2f5e8e0b367e49cfbba7c96b28306a61"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61">rtabmap::DBDriver::updateOccupancyGrid</a></div><div class="ttdeci">void updateOccupancyGrid(int nodeId, const cv::Mat &amp;ground, const cv::Mat &amp;obstacles, const cv::Mat &amp;empty, float cellSize, const cv::Point3f &amp;viewpoint)</div><div class="ttdoc">Update occupancy grid cells for a node.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a33c2abff50e61f35efbbdbe530963fea"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea">rtabmap::DBDriver::saveFlannIndex</a></div><div class="ttdeci">void saveFlannIndex(const std::vector&lt; unsigned char &gt; &amp;indexData) const</div><div class="ttdoc">Persist the visual word dictionary FLANN index (serialized blob).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a3a02d595356e2dd0ed8b8933a6c4e811"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811">rtabmap::DBDriver::updateDepthImage</a></div><div class="ttdeci">void updateDepthImage(int nodeId, const cv::Mat &amp;image, const std::string &amp;format)</div><div class="ttdoc">Update the depth image stored for a node.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a3c73e045d9bdf8cad1c58efc9d930427"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427">rtabmap::DBDriver::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Parse driver parameters from the map (e.g. target schema version).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a456bc49e8e60e0c754078a4b09e3f1a1"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1">rtabmap::DBDriver::getTargetVersion</a></div><div class="ttdeci">const std::string &amp; getTargetVersion() const</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00094">DBDriver.h:94</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a4dbccd0dabf72da724488692b1713832"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832">rtabmap::DBDriver::addStatistics</a></div><div class="ttdeci">void addStatistics(const Statistics &amp;statistics, bool saveWmState) const</div><div class="ttdoc">Append a Statistics record for a processed node.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a5bed0d1f92c1cc864dedf99b99a44037"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037">rtabmap::DBDriver::save2DMap</a></div><div class="ttdeci">void save2DMap(const cv::Mat &amp;map, float xMin, float yMin, float cellSize) const</div><div class="ttdoc">Save the assembled 2D occupancy grid and its origin metadata.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a5f90eb62bb559d42611dbe7ffe11328e"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e">rtabmap::DBDriver::DBDriver</a></div><div class="ttdeci">DBDriver(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Protected constructor for subclasses.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a6d59931a9496cf1b23568f79fc421cc1"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1">rtabmap::DBDriver::updateCalibration</a></div><div class="ttdeci">void updateCalibration(int nodeId, const std::vector&lt; CameraModel &gt; &amp;models, const std::vector&lt; StereoCameraModel &gt; &amp;stereoModels)</div><div class="ttdoc">Update camera calibration stored for a node.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a6ef8c39b350634d21b57b1c07b029e55"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55">rtabmap::DBDriver::loadOptimizedPoses</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; loadOptimizedPoses(Transform *lastlocalizationPose=0) const</div><div class="ttdoc">Load optimized poses; optional last localization pose output.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a79365611bce06aeda0d078641be89cab"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab">rtabmap::DBDriver::getUrl</a></div><div class="ttdeci">const std::string &amp; getUrl() const</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00092">DBDriver.h:92</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a7b1222cf6e75d7365b5b90c37bca2a85"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85">rtabmap::DBDriver::isConnected</a></div><div class="ttdeci">bool isConnected() const</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a7c3c7536423a956e74d3f609ee814717"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717">rtabmap::DBDriver::removeLink</a></div><div class="ttdeci">void removeLink(int from, int to)</div><div class="ttdoc">Remove a link between two nodes.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a7d167e53d447d77dd3fe35665f8a661b"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b">rtabmap::DBDriver::updateLaserScan</a></div><div class="ttdeci">void updateLaserScan(int nodeId, const LaserScan &amp;scan)</div><div class="ttdoc">Update the laser scan stored for a node.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a8323a53d20e4ade6b1c7b268c473a170"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170">rtabmap::DBDriver::savePreviewImage</a></div><div class="ttdeci">void savePreviewImage(const cv::Mat &amp;image) const</div><div class="ttdoc">Save the map preview thumbnail in the Admin table.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a835fc23bd4f6532af71f3aadfb8037d8"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8">rtabmap::DBDriver::executeNoResult</a></div><div class="ttdeci">void executeNoResult(const std::string &amp;sql) const</div><div class="ttdoc">Run a SQL statement that does not return result rows.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a88eee22aa9707a6993f734fe29f6af5d"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d">rtabmap::DBDriver::asyncSave</a></div><div class="ttdeci">void asyncSave(VisualWord *vw)</div><div class="ttdoc">Queue a visual word for deferred save; ownership is transferred.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a94eb69c07a44343c008654b1401dce80"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80">rtabmap::DBDriver::updateLink</a></div><div class="ttdeci">void updateLink(const Link &amp;link)</div><div class="ttdoc">Update an existing link in the database.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_a9adb7be1463016917f24a3db5f1e8264"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264">rtabmap::DBDriver::getDatabaseVersion</a></div><div class="ttdeci">std::string getDatabaseVersion() const</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_aa1423596308a8baf123ecbc7fdfc1e82"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82">rtabmap::DBDriver::loadPreviewImage</a></div><div class="ttdeci">cv::Mat loadPreviewImage() const</div><div class="ttdoc">Load and uncompress the map preview thumbnail from the Admin table.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_aa3d68850f4bb114e897e37af6b1c858a"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a">rtabmap::DBDriver::load2DMap</a></div><div class="ttdeci">cv::Mat load2DMap(float &amp;xMin, float &amp;yMin, float &amp;cellSize) const</div><div class="ttdoc">Load the 2D map and fill origin/cell size outputs.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_aab00d50127b8b5bb92f8605e35aaca4d"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d">rtabmap::DBDriver::loadLinks</a></div><div class="ttdeci">void loadLinks(int signatureId, std::multimap&lt; int, Link &gt; &amp;links, Link::Type type=Link::kUndef) const</div><div class="ttdoc">Load outgoing links from signatureId, optionally filtered by type.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_ab4a0036162994c2ef76d4236e2a7ea0a"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a">rtabmap::DBDriver::emptyTrashes</a></div><div class="ttdeci">void emptyTrashes(bool async=false)</div><div class="ttdoc">Flush queued signatures and visual words to the database.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_ab91ad40e4273485e5f0951fac32c22e4"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4">rtabmap::DBDriver::saveOptimizedPoses</a></div><div class="ttdeci">void saveOptimizedPoses(const std::map&lt; int, Transform &gt; &amp;optimizedPoses, const Transform &amp;lastlocalizationPose) const</div><div class="ttdoc">Persist graph-optimized poses and last localization pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_abb644a203d148d0b29db41aea04c949f"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f">rtabmap::DBDriver::closeConnection</a></div><div class="ttdeci">void closeConnection(bool save=true, const std::string &amp;outputUrl=&quot;&quot;)</div><div class="ttdoc">Close the connection; optionally flush trashes and save in-memory DB to outputUrl.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_abbf62fc6967cf618e6b2aece44f45230"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230">rtabmap::DBDriver::generateGraph</a></div><div class="ttdeci">void generateGraph(const std::string &amp;fileName, const std::set&lt; int &gt; &amp;ids=std::set&lt; int &gt;(), const std::map&lt; int, Signature * &gt; &amp;otherSignatures=std::map&lt; int, Signature * &gt;())</div><div class="ttdoc">Export the pose graph to a Graphviz DOT file for visualization.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_ac6c0a2260ba2c3cc030136c9609142f5"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5">rtabmap::DBDriver::openConnection</a></div><div class="ttdeci">bool openConnection(const std::string &amp;url, bool overwritten=false, bool readOnly=false)</div><div class="ttdoc">Open or create the database at url (empty url uses an in-memory database).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_acfb5fed58aad744050c392a8d346926b"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b">rtabmap::DBDriver::addLink</a></div><div class="ttdeci">void addLink(const Link &amp;link)</div><div class="ttdoc">Insert or replace a link in the database.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html_ad1510e157f3ab8df3284528369a6d88f"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f">rtabmap::DBDriver::asyncSave</a></div><div class="ttdeci">void asyncSave(Signature *s)</div><div class="ttdoc">Queue a signature for deferred save; ownership is transferred.</div></div>
<div class="ttc" id="aclassrtabmap_1_1GPS_html"><div class="ttname"><a href="classrtabmap_1_1GPS.html">rtabmap::GPS</a></div><div class="ttdoc">WGS84 GPS fix attached to a sensor sample or graph node.</div><div class="ttdef"><b>Definition</b> <a href="GPS_8h_source.html#l00046">GPS.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html"><div class="ttname"><a href="classrtabmap_1_1Statistics.html">rtabmap::Statistics</a></div><div class="ttdoc">Collects and manages runtime statistics for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00107">Statistics.h:108</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></div><div class="ttdoc">Manages a dictionary of visual words for visual place recognition and loop closure detection.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00065">VWDictionary.h:66</a></div></div>
<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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map&lt; EnvSensor::Type, EnvSensor &gt; EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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