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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.12</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="contents">
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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>
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<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>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<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 "AS IS" AND</span></div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#pragma once</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <pcl/point_types.h></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#if CV_MAJOR_VERSION < 5</span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <opencv2/features2d/features2d.hpp></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#else</span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <opencv2/features.hpp></span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <opencv2/imgproc/imgproc.hpp></span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <map></span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <list></span></div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include <vector></span></div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <set></span></div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <rtabmap/core/SensorData.h></span></div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include <rtabmap/core/Link.h></span></div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span>{</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
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<div class="foldopen" id="foldopen00083" data-start="{" data-end="};">
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html"> 83</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a></div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span>{</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a8e079b11910a45639a792158c40693ad"> 93</a></span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a8e079b11910a45639a792158c40693ad">Signature</a>();</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aa3367bba5b890341238d93e642f847a7"> 112</a></span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aa3367bba5b890341238d93e642f847a7">Signature</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>,</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">int</span> mapId = -1,</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">int</span> weight = 0,</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">const</span> std::string & label = std::string(),</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(),</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruthPose = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(),</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData = <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a>());</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#af106b6a37909c236e22f5cac6150ce62"> 132</a></span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#af106b6a37909c236e22f5cac6150ce62">Signature</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data);</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a67c41f31ff6fd72815190cc1bbba9569"> 137</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a67c41f31ff6fd72815190cc1bbba9569">~Signature</a>();</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#abe3b712a3c74599007b1974f592d82bd"> 151</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#abe3b712a3c74599007b1974f592d82bd">compareTo</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & signature) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a693874de0d6ede4fe5c5d43d6f4d8b55"> 162</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a693874de0d6ede4fe5c5d43d6f4d8b55">isBadSignature</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9"> 168</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _id;}</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#ac6a75872fb4cb64bd088794df6e897bb"> 174</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#ac6a75872fb4cb64bd088794df6e897bb">mapId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _mapId;}</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> </div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a28cc9f0c8d553a24ef9e5227be1c99fe"> 189</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a28cc9f0c8d553a24ef9e5227be1c99fe">setWeight</a>(<span class="keywordtype">int</span> weight) {_modified=_modified || _weight!=weight;_weight = weight;}</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> </div>
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a701b32c562d789929a18a19c08bac4ca"> 195</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a701b32c562d789929a18a19c08bac4ca">getWeight</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _weight;}</div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aa6dc3ad065ae2fd29afbbe69429f3a7b"> 208</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aa6dc3ad065ae2fd29afbbe69429f3a7b">setLabel</a>(<span class="keyword">const</span> std::string & label) {_modified=_modified || _label.compare(label)!=0;_label = label;}</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a78a9ae9059257c60cf1d50ef415520cd"> 214</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a78a9ae9059257c60cf1d50ef415520cd">getLabel</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _label;}</div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
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<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aa9c4ed8d3617b039181cf44a0e30eca2"> 220</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aa9c4ed8d3617b039181cf44a0e30eca2">getStamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stamp;}</div>
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<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aa8513c4ecb77c38b95610834c66e893e"> 233</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aa8513c4ecb77c38b95610834c66e893e">addLinks</a>(<span class="keyword">const</span> std::list<Link> & links);</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#af92465ad9cbfab36ffbc6d372781170c"> 247</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#af92465ad9cbfab36ffbc6d372781170c">addLinks</a>(<span class="keyword">const</span> std::map<int, Link> & links);</div>
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<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a3bb2e6a8de8e615e51385c4113630f93"> 263</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a3bb2e6a8de8e615e51385c4113630f93">addLink</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link);</div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
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<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#ad71fa7c0466dbb5c5062953043c3fcb0"> 272</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#ad71fa7c0466dbb5c5062953043c3fcb0">hasLink</a>(<span class="keywordtype">int</span> idTo, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
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<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a10d3bce2c3e4ec2de31aa5fa0c4b5934"> 285</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a10d3bce2c3e4ec2de31aa5fa0c4b5934">changeLinkIds</a>(<span class="keywordtype">int</span> idFrom, <span class="keywordtype">int</span> idTo);</div>
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<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> </div>
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<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a8d3e01853af1365fce62dd460dea816f"> 295</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a8d3e01853af1365fce62dd460dea816f">removeLinks</a>(<span class="keywordtype">bool</span> keepSelfReferringLinks = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> </div>
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<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#abbd9806c2b20182217d2269c7398541e"> 304</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#abbd9806c2b20182217d2269c7398541e">removeLink</a>(<span class="keywordtype">int</span> idTo);</div>
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<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> </div>
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<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a328419f90f9dd8113dee4e38c9e30367"> 313</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a328419f90f9dd8113dee4e38c9e30367">removeVirtualLinks</a>();</div>
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<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> </div>
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<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a71621ac6411f778342c23fbc4e695a12"> 326</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a71621ac6411f778342c23fbc4e695a12">addLandmark</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & landmark);</div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> </div>
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<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a2257cfc6c620d726484f1c6c2b11257a"> 332</a></span> <span class="keyword">const</span> std::map<int, Link> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a2257cfc6c620d726484f1c6c2b11257a">getLandmarks</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _landmarks;}</div>
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<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> </div>
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<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aa482e98fb247d40368a9aaa838fe3a5a"> 337</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aa482e98fb247d40368a9aaa838fe3a5a">removeLandmarks</a>();</div>
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<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> </div>
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<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a6fe5edded7922a34c3f52e71e8be458d"> 343</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a6fe5edded7922a34c3f52e71e8be458d">removeLandmark</a>(<span class="keywordtype">int</span> landmarkId);</div>
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<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a02c5d305492e3534e3799b8b7c78d912"> 349</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a02c5d305492e3534e3799b8b7c78d912">setSaved</a>(<span class="keywordtype">bool</span> saved) {_saved = saved;}</div>
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<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
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<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a245c8af68f7adec3813e3b062395769f"> 359</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a245c8af68f7adec3813e3b062395769f">setModified</a>(<span class="keywordtype">bool</span> modified) {_modified = modified; _linksModified = modified;}</div>
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<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> </div>
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<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a1496e2f2ae46f2b6efcf7ece309ffd22"> 365</a></span> <span class="keyword">const</span> std::multimap<int, Link> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a1496e2f2ae46f2b6efcf7ece309ffd22">getLinks</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _links;}</div>
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<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> </div>
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<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a0d15326165e9d01f0b91b247f5da23ea"> 371</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a0d15326165e9d01f0b91b247f5da23ea">isSaved</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _saved;}</div>
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<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> </div>
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<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#ab63ee6d2a0e2cd456748a64d9990f969"> 380</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#ab63ee6d2a0e2cd456748a64d9990f969">isModified</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _modified || _linksModified;}</div>
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<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> </div>
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<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a93dcbd3cffc84808fe5652bf0f542ca9"> 386</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a93dcbd3cffc84808fe5652bf0f542ca9">isLinksModified</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _linksModified;}</div>
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<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> </div>
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<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="comment">// Visual words management</span></div>
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<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> </div>
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<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aac24301e6aff593fdcd679485b2c0e0e"> 396</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aac24301e6aff593fdcd679485b2c0e0e">removeAllWords</a>();</div>
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<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> </div>
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<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a0fbef54e89583c0ee919f938d57c8759"> 409</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a0fbef54e89583c0ee919f938d57c8759">changeWordsRef</a>(<span class="keywordtype">int</span> oldWordId, <span class="keywordtype">int</span> activeWordId);</div>
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<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> </div>
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<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a6fb8d04c4c2c8ee6f82d1eb65fd750a4"> 426</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a6fb8d04c4c2c8ee6f82d1eb65fd750a4">setWords</a>(<span class="keyword">const</span> std::multimap<int, int> & words, <span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints, <span class="keyword">const</span> std::vector<cv::Point3f> & words3, <span class="keyword">const</span> cv::Mat & descriptors);</div>
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<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> </div>
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<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a343a565680d03c45cc29dff7392b275e"> 436</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a343a565680d03c45cc29dff7392b275e">isEnabled</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _enabled;}</div>
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<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> </div>
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<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a51a08cbabd87eb0fd5045ffdb4cb3c00"> 442</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a51a08cbabd87eb0fd5045ffdb4cb3c00">setEnabled</a>(<span class="keywordtype">bool</span> enabled) {_enabled = enabled;}</div>
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<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
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<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a68eaa67c81d08e20d2b7a43b0659b1d4"> 452</a></span> <span class="keyword">const</span> std::multimap<int, int> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a68eaa67c81d08e20d2b7a43b0659b1d4">getWords</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _words;}</div>
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<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> </div>
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<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a471f71821ceeec9a25e9e4e16673d14f"> 458</a></span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a471f71821ceeec9a25e9e4e16673d14f">getWordsKpts</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _wordsKpts;}</div>
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<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> </div>
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<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#ac2d1526d87df9ff5d4885b16c460ebcf"> 469</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#ac2d1526d87df9ff5d4885b16c460ebcf">getInvalidWordsCount</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _invalidWordsCount;}</div>
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<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> </div>
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<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a01f6eac0e5836aa921d65108b75249f6"> 479</a></span> <span class="keyword">const</span> std::map<int, int> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a01f6eac0e5836aa921d65108b75249f6">getWordsChanged</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _wordsChanged;}</div>
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<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> </div>
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<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a1ed4181ac5cc7b477482459d680c63b1"> 485</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a1ed4181ac5cc7b477482459d680c63b1">getWordsDescriptors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _wordsDescriptors;}</div>
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<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
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<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a80565e1439be473d9c783d5c624b1a02"> 495</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a80565e1439be473d9c783d5c624b1a02">setWordsDescriptors</a>(<span class="keyword">const</span> cv::Mat & descriptors);</div>
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<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> </div>
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<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> <span class="comment">// Pose and metric information</span></div>
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<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> </div>
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<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aca4bf5db794637f0780f6eb2139a16f0"> 519</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aca4bf5db794637f0780f6eb2139a16f0">setPose</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose) {_pose = pose;}</div>
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<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> </div>
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<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#aa8be86850b1277ce7c5eb4a5998e35e9"> 529</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#aa8be86850b1277ce7c5eb4a5998e35e9">setGroundTruthPose</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose) {_groundTruthPose = pose;}</div>
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<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> </div>
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<div class="foldopen" id="foldopen00544" data-start="{" data-end="}">
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<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a1e48a2cde44ad1ecc2daaf5e8245e86a"> 544</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a1e48a2cde44ad1ecc2daaf5e8245e86a">setVelocity</a>(<span class="keywordtype">float</span> vx, <span class="keywordtype">float</span> vy, <span class="keywordtype">float</span> vz, <span class="keywordtype">float</span> vroll, <span class="keywordtype">float</span> vpitch, <span class="keywordtype">float</span> vyaw) {</div>
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<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> _velocity = std::vector<float>(6,0);</div>
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<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> _velocity[0]=vx;</div>
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<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> _velocity[1]=vy;</div>
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<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> _velocity[2]=vz;</div>
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<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> _velocity[3]=vroll;</div>
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<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> _velocity[4]=vpitch;</div>
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<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> _velocity[5]=vyaw;</div>
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<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> }</div>
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</div>
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<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> </div>
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<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#ab902bfc7cdde2542ffe7e5d441f90a66"> 562</a></span> <span class="keyword">const</span> std::vector<cv::Point3f> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#ab902bfc7cdde2542ffe7e5d441f90a66">getWords3</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _words3;}</div>
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<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> </div>
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<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a5166864f276c921963033e8852c13076"> 569</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a5166864f276c921963033e8852c13076">getPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
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<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> </div>
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<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#afc81cb91421dcd36e2f5e3dc84a77b44"> 579</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Signature.html#afc81cb91421dcd36e2f5e3dc84a77b44">getPoseCovariance</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> </div>
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<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c"> 585</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c">getGroundTruthPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundTruthPose;}</div>
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<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> </div>
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<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#ae97f22fcb6799a5312c1948cb9f42c99"> 591</a></span> <span class="keyword">const</span> std::vector<float> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#ae97f22fcb6799a5312c1948cb9f42c99">getVelocity</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _velocity;}</div>
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<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> </div>
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<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738"> 597</a></span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">sensorData</a>() {<span class="keywordflow">return</span> _sensorData;}</div>
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<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> </div>
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<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8"> 603</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & <a class="code hl_function" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">sensorData</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _sensorData;}</div>
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<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> </div>
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<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Signature.html#a014fd12ee6cd47004e94ef4bb4753459"> 614</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1Signature.html#a014fd12ee6cd47004e94ef4bb4753459">getMemoryUsed</a>(<span class="keywordtype">bool</span> withSensorData=<span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> </div>
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<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> <span class="keywordtype">int</span> _id; </div>
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<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="keywordtype">int</span> _mapId; </div>
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<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <span class="keywordtype">double</span> _stamp; </div>
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<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> std::multimap<int, Link> _links; </div>
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<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> std::map<int, Link> _landmarks; </div>
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<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="keywordtype">int</span> _weight; </div>
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<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> std::string _label; </div>
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<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> <span class="keywordtype">bool</span> _saved; </div>
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<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> <span class="keywordtype">bool</span> _modified; </div>
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<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keywordtype">bool</span> _linksModified; </div>
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<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> </div>
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<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> std::multimap<int, int> _words; </div>
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<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> std::vector<cv::KeyPoint> _wordsKpts; </div>
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<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> std::vector<cv::Point3f> _words3; </div>
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<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> cv::Mat _wordsDescriptors; </div>
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<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> std::map<int, int> _wordsChanged; </div>
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<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> <span class="keywordtype">bool</span> _enabled; </div>
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<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <span class="keywordtype">int</span> _invalidWordsCount; </div>
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<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> </div>
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<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose; </div>
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<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _groundTruthPose; </div>
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<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> std::vector<float> _velocity; </div>
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<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> </div>
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<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> _sensorData; </div>
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<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span>};</div>
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</div>
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<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> </div>
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<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span>} <span class="comment">// namespace rtabmap</span></div>
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<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>
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<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>
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<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>
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<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>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a014fd12ee6cd47004e94ef4bb4753459"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a014fd12ee6cd47004e94ef4bb4753459">rtabmap::Signature::getMemoryUsed</a></div><div class="ttdeci">unsigned long getMemoryUsed(bool withSensorData=true) const</div><div class="ttdoc">Computes the memory usage of this signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a01f6eac0e5836aa921d65108b75249f6"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a01f6eac0e5836aa921d65108b75249f6">rtabmap::Signature::getWordsChanged</a></div><div class="ttdeci">const std::map< int, int > & getWordsChanged() const</div><div class="ttdoc">Returns the word ID change mapping.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00479">Signature.h:479</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a02c5d305492e3534e3799b8b7c78d912"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a02c5d305492e3534e3799b8b7c78d912">rtabmap::Signature::setSaved</a></div><div class="ttdeci">void setSaved(bool saved)</div><div class="ttdoc">Sets whether this signature has been saved to the database.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00349">Signature.h:349</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a0d15326165e9d01f0b91b247f5da23ea"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a0d15326165e9d01f0b91b247f5da23ea">rtabmap::Signature::isSaved</a></div><div class="ttdeci">bool isSaved() const</div><div class="ttdoc">Checks if this signature has been saved to the database.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00371">Signature.h:371</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a0e7b1874613a7438ec1b2d9aa2634da8"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature::sensorData</a></div><div class="ttdeci">const SensorData & sensorData() const</div><div class="ttdoc">Returns const access to the sensor data.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00603">Signature.h:603</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a0fbef54e89583c0ee919f938d57c8759"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a0fbef54e89583c0ee919f938d57c8759">rtabmap::Signature::changeWordsRef</a></div><div class="ttdeci">void changeWordsRef(int oldWordId, int activeWordId)</div><div class="ttdoc">Changes visual word references from one word ID to another.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a10d3bce2c3e4ec2de31aa5fa0c4b5934"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a10d3bce2c3e4ec2de31aa5fa0c4b5934">rtabmap::Signature::changeLinkIds</a></div><div class="ttdeci">void changeLinkIds(int idFrom, int idTo)</div><div class="ttdoc">Changes all link target IDs from one value to another.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a1496e2f2ae46f2b6efcf7ece309ffd22"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a1496e2f2ae46f2b6efcf7ece309ffd22">rtabmap::Signature::getLinks</a></div><div class="ttdeci">const std::multimap< int, Link > & getLinks() const</div><div class="ttdoc">Returns all links from this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00365">Signature.h:365</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a1e48a2cde44ad1ecc2daaf5e8245e86a"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a1e48a2cde44ad1ecc2daaf5e8245e86a">rtabmap::Signature::setVelocity</a></div><div class="ttdeci">void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw)</div><div class="ttdoc">Sets the velocity of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00544">Signature.h:544</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a1ed4181ac5cc7b477482459d680c63b1"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a1ed4181ac5cc7b477482459d680c63b1">rtabmap::Signature::getWordsDescriptors</a></div><div class="ttdeci">const cv::Mat & getWordsDescriptors() const</div><div class="ttdoc">Returns the feature descriptors for visual words.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00485">Signature.h:485</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a2257cfc6c620d726484f1c6c2b11257a"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a2257cfc6c620d726484f1c6c2b11257a">rtabmap::Signature::getLandmarks</a></div><div class="ttdeci">const std::map< int, Link > & getLandmarks() const</div><div class="ttdoc">Returns all landmark observations.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00332">Signature.h:332</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a245c8af68f7adec3813e3b062395769f"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a245c8af68f7adec3813e3b062395769f">rtabmap::Signature::setModified</a></div><div class="ttdeci">void setModified(bool modified)</div><div class="ttdoc">Sets the modification flag for this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00359">Signature.h:359</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a24c257c2ff3fe156910ac82c41de8738"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature::sensorData</a></div><div class="ttdeci">SensorData & sensorData()</div><div class="ttdoc">Returns mutable access to the sensor data.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00597">Signature.h:597</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a28cc9f0c8d553a24ef9e5227be1c99fe"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a28cc9f0c8d553a24ef9e5227be1c99fe">rtabmap::Signature::setWeight</a></div><div class="ttdeci">void setWeight(int weight)</div><div class="ttdoc">Sets the weight/importance of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00189">Signature.h:189</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a31c6e7b7e720eca20fb5935e0ee1d9f9"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9">rtabmap::Signature::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">Returns the signature ID.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00168">Signature.h:168</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a328419f90f9dd8113dee4e38c9e30367"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a328419f90f9dd8113dee4e38c9e30367">rtabmap::Signature::removeVirtualLinks</a></div><div class="ttdeci">void removeVirtualLinks()</div><div class="ttdoc">Removes all virtual links from this signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a343a565680d03c45cc29dff7392b275e"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a343a565680d03c45cc29dff7392b275e">rtabmap::Signature::isEnabled</a></div><div class="ttdeci">bool isEnabled() const</div><div class="ttdoc">Checks if this signature is enabled.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00436">Signature.h:436</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a3bb2e6a8de8e615e51385c4113630f93"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a3bb2e6a8de8e615e51385c4113630f93">rtabmap::Signature::addLink</a></div><div class="ttdeci">void addLink(const Link &link)</div><div class="ttdoc">Adds a single link to this signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a471f71821ceeec9a25e9e4e16673d14f"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a471f71821ceeec9a25e9e4e16673d14f">rtabmap::Signature::getWordsKpts</a></div><div class="ttdeci">const std::vector< cv::KeyPoint > & getWordsKpts() const</div><div class="ttdoc">Returns the keypoints associated with visual words.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00458">Signature.h:458</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a5166864f276c921963033e8852c13076"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a5166864f276c921963033e8852c13076">rtabmap::Signature::getPose</a></div><div class="ttdeci">const Transform & getPose() const</div><div class="ttdoc">Returns the pose of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00569">Signature.h:569</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a51a08cbabd87eb0fd5045ffdb4cb3c00"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a51a08cbabd87eb0fd5045ffdb4cb3c00">rtabmap::Signature::setEnabled</a></div><div class="ttdeci">void setEnabled(bool enabled)</div><div class="ttdoc">Sets whether this signature is enabled.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00442">Signature.h:442</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a5d5f3aa41c0d9404654ebc5628a5189c"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c">rtabmap::Signature::getGroundTruthPose</a></div><div class="ttdeci">const Transform & getGroundTruthPose() const</div><div class="ttdoc">Returns the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00585">Signature.h:585</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a67c41f31ff6fd72815190cc1bbba9569"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a67c41f31ff6fd72815190cc1bbba9569">rtabmap::Signature::~Signature</a></div><div class="ttdeci">virtual ~Signature()</div><div class="ttdoc">Virtual destructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a68eaa67c81d08e20d2b7a43b0659b1d4"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a68eaa67c81d08e20d2b7a43b0659b1d4">rtabmap::Signature::getWords</a></div><div class="ttdeci">const std::multimap< int, int > & getWords() const</div><div class="ttdoc">Returns the visual words map.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00452">Signature.h:452</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a693874de0d6ede4fe5c5d43d6f4d8b55"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a693874de0d6ede4fe5c5d43d6f4d8b55">rtabmap::Signature::isBadSignature</a></div><div class="ttdeci">bool isBadSignature() const</div><div class="ttdoc">Checks if this signature is considered "bad".</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a6fb8d04c4c2c8ee6f82d1eb65fd750a4"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a6fb8d04c4c2c8ee6f82d1eb65fd750a4">rtabmap::Signature::setWords</a></div><div class="ttdeci">void setWords(const std::multimap< int, int > &words, const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &words3, const cv::Mat &descriptors)</div><div class="ttdoc">Sets all visual words for this signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a6fe5edded7922a34c3f52e71e8be458d"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a6fe5edded7922a34c3f52e71e8be458d">rtabmap::Signature::removeLandmark</a></div><div class="ttdeci">void removeLandmark(int landmarkId)</div><div class="ttdoc">Removes a specific landmark observation.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a701b32c562d789929a18a19c08bac4ca"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a701b32c562d789929a18a19c08bac4ca">rtabmap::Signature::getWeight</a></div><div class="ttdeci">int getWeight() const</div><div class="ttdoc">Returns the weight/importance of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00195">Signature.h:195</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a71621ac6411f778342c23fbc4e695a12"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a71621ac6411f778342c23fbc4e695a12">rtabmap::Signature::addLandmark</a></div><div class="ttdeci">void addLandmark(const Link &landmark)</div><div class="ttdoc">Adds a landmark observation to this signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a78a9ae9059257c60cf1d50ef415520cd"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a78a9ae9059257c60cf1d50ef415520cd">rtabmap::Signature::getLabel</a></div><div class="ttdeci">const std::string & getLabel() const</div><div class="ttdoc">Returns the label/name of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00214">Signature.h:214</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a80565e1439be473d9c783d5c624b1a02"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a80565e1439be473d9c783d5c624b1a02">rtabmap::Signature::setWordsDescriptors</a></div><div class="ttdeci">void setWordsDescriptors(const cv::Mat &descriptors)</div><div class="ttdoc">Sets the feature descriptors for visual words.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a8d3e01853af1365fce62dd460dea816f"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a8d3e01853af1365fce62dd460dea816f">rtabmap::Signature::removeLinks</a></div><div class="ttdeci">void removeLinks(bool keepSelfReferringLinks=false)</div><div class="ttdoc">Removes all links from this signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a8e079b11910a45639a792158c40693ad"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a8e079b11910a45639a792158c40693ad">rtabmap::Signature::Signature</a></div><div class="ttdeci">Signature()</div><div class="ttdoc">Default constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_a93dcbd3cffc84808fe5652bf0f542ca9"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a93dcbd3cffc84808fe5652bf0f542ca9">rtabmap::Signature::isLinksModified</a></div><div class="ttdeci">bool isLinksModified() const</div><div class="ttdoc">Checks if the links have been modified.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00386">Signature.h:386</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aa3367bba5b890341238d93e642f847a7"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aa3367bba5b890341238d93e642f847a7">rtabmap::Signature::Signature</a></div><div class="ttdeci">Signature(int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())</div><div class="ttdoc">Constructor with explicit parameters.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aa482e98fb247d40368a9aaa838fe3a5a"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aa482e98fb247d40368a9aaa838fe3a5a">rtabmap::Signature::removeLandmarks</a></div><div class="ttdeci">void removeLandmarks()</div><div class="ttdoc">Removes all landmark observations.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aa6dc3ad065ae2fd29afbbe69429f3a7b"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aa6dc3ad065ae2fd29afbbe69429f3a7b">rtabmap::Signature::setLabel</a></div><div class="ttdeci">void setLabel(const std::string &label)</div><div class="ttdoc">Sets a label/name for this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00208">Signature.h:208</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aa8513c4ecb77c38b95610834c66e893e"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aa8513c4ecb77c38b95610834c66e893e">rtabmap::Signature::addLinks</a></div><div class="ttdeci">void addLinks(const std::list< Link > &links)</div><div class="ttdoc">Adds multiple links from a list.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aa8be86850b1277ce7c5eb4a5998e35e9"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aa8be86850b1277ce7c5eb4a5998e35e9">rtabmap::Signature::setGroundTruthPose</a></div><div class="ttdeci">void setGroundTruthPose(const Transform &pose)</div><div class="ttdoc">Sets the ground truth pose for evaluation.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00529">Signature.h:529</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aa9c4ed8d3617b039181cf44a0e30eca2"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aa9c4ed8d3617b039181cf44a0e30eca2">rtabmap::Signature::getStamp</a></div><div class="ttdeci">double getStamp() const</div><div class="ttdoc">Returns the timestamp of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00220">Signature.h:220</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aac24301e6aff593fdcd679485b2c0e0e"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aac24301e6aff593fdcd679485b2c0e0e">rtabmap::Signature::removeAllWords</a></div><div class="ttdeci">void removeAllWords()</div><div class="ttdoc">Removes all visual words from this signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_ab63ee6d2a0e2cd456748a64d9990f969"><div class="ttname"><a href="classrtabmap_1_1Signature.html#ab63ee6d2a0e2cd456748a64d9990f969">rtabmap::Signature::isModified</a></div><div class="ttdeci">bool isModified() const</div><div class="ttdoc">Checks if this signature has been modified.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00380">Signature.h:380</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_ab902bfc7cdde2542ffe7e5d441f90a66"><div class="ttname"><a href="classrtabmap_1_1Signature.html#ab902bfc7cdde2542ffe7e5d441f90a66">rtabmap::Signature::getWords3</a></div><div class="ttdeci">const std::vector< cv::Point3f > & getWords3() const</div><div class="ttdoc">Returns the 3D points of visual words.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00562">Signature.h:562</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_abbd9806c2b20182217d2269c7398541e"><div class="ttname"><a href="classrtabmap_1_1Signature.html#abbd9806c2b20182217d2269c7398541e">rtabmap::Signature::removeLink</a></div><div class="ttdeci">void removeLink(int idTo)</div><div class="ttdoc">Removes a specific link to a target signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_abe3b712a3c74599007b1974f592d82bd"><div class="ttname"><a href="classrtabmap_1_1Signature.html#abe3b712a3c74599007b1974f592d82bd">rtabmap::Signature::compareTo</a></div><div class="ttdeci">float compareTo(const Signature &signature) const</div><div class="ttdoc">Compares this signature to another signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_ac2d1526d87df9ff5d4885b16c460ebcf"><div class="ttname"><a href="classrtabmap_1_1Signature.html#ac2d1526d87df9ff5d4885b16c460ebcf">rtabmap::Signature::getInvalidWordsCount</a></div><div class="ttdeci">int getInvalidWordsCount() const</div><div class="ttdoc">Returns the count of invalid visual words.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00469">Signature.h:469</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_ac6a75872fb4cb64bd088794df6e897bb"><div class="ttname"><a href="classrtabmap_1_1Signature.html#ac6a75872fb4cb64bd088794df6e897bb">rtabmap::Signature::mapId</a></div><div class="ttdeci">int mapId() const</div><div class="ttdoc">Returns the map ID.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00174">Signature.h:174</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_aca4bf5db794637f0780f6eb2139a16f0"><div class="ttname"><a href="classrtabmap_1_1Signature.html#aca4bf5db794637f0780f6eb2139a16f0">rtabmap::Signature::setPose</a></div><div class="ttdeci">void setPose(const Transform &pose)</div><div class="ttdoc">Sets the pose of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00519">Signature.h:519</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_ad71fa7c0466dbb5c5062953043c3fcb0"><div class="ttname"><a href="classrtabmap_1_1Signature.html#ad71fa7c0466dbb5c5062953043c3fcb0">rtabmap::Signature::hasLink</a></div><div class="ttdeci">bool hasLink(int idTo, Link::Type type=Link::kUndef) const</div><div class="ttdoc">Checks if this signature has a link to a target signature.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_ae97f22fcb6799a5312c1948cb9f42c99"><div class="ttname"><a href="classrtabmap_1_1Signature.html#ae97f22fcb6799a5312c1948cb9f42c99">rtabmap::Signature::getVelocity</a></div><div class="ttdeci">const std::vector< float > & getVelocity() const</div><div class="ttdoc">Returns the velocity of this signature.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00591">Signature.h:591</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_af106b6a37909c236e22f5cac6150ce62"><div class="ttname"><a href="classrtabmap_1_1Signature.html#af106b6a37909c236e22f5cac6150ce62">rtabmap::Signature::Signature</a></div><div class="ttdeci">Signature(const SensorData &data)</div><div class="ttdoc">Constructor from sensor data.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_af92465ad9cbfab36ffbc6d372781170c"><div class="ttname"><a href="classrtabmap_1_1Signature.html#af92465ad9cbfab36ffbc6d372781170c">rtabmap::Signature::addLinks</a></div><div class="ttdeci">void addLinks(const std::map< int, Link > &links)</div><div class="ttdoc">Adds multiple links from a map.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html_afc81cb91421dcd36e2f5e3dc84a77b44"><div class="ttname"><a href="classrtabmap_1_1Signature.html#afc81cb91421dcd36e2f5e3dc84a77b44">rtabmap::Signature::getPoseCovariance</a></div><div class="ttdeci">cv::Mat getPoseCovariance() const</div><div class="ttdoc">Gets the pose covariance matrix.</div></div>
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<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>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
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