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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="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">#ifndef RTABMAP_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define RTABMAP_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</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="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include "rtabmap/core/Parameters.h"</span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include "rtabmap/core/SensorData.h"</span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include "rtabmap/core/Statistics.h"</span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include "rtabmap/core/Link.h"</span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "rtabmap/core/ProgressState.h"</span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "rtabmap/core/Graph.h"</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <opencv2/core/core.hpp></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 <stack></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="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>{</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">class </span>EpipolarGeometry;</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="keyword">class </span>Memory;</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">class </span>BayesFilter;</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">class </span>Signature;</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="keyword">class </span>Optimizer;</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
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<div class="foldopen" id="foldopen00193" data-start="{" data-end="};">
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html"> 193</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a></div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>{</div>
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00197" data-start="{" data-end="};">
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568c"> 197</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568c">VhStrategy</a> {</div>
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<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b"> 198</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b">kVhNone</a>, </div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6"> 199</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6">kVhEpipolar</a>, </div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> kVhUndef </div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568cab2676e6cebdd6090d3c87a3237c3e83b"> 201</a></span> };</div>
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</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> </div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a>();</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">~Rtabmap</a>();</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> </div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3"> 223</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3">process</a>(</div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <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="l00225" name="l00225"></a><span class="lineno"> 225</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> odomPose,</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">const</span> cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keyword">const</span> std::vector<float> & odomVelocity = std::vector<float>(),</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keyword">const</span> std::map<std::string, float> & externalStats = std::map<std::string, float>());</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a91cedf4574a557cadf6daded489e4dbe"> 236</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a91cedf4574a557cadf6daded489e4dbe">process</a>(</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <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="l00238" name="l00238"></a><span class="lineno"> 238</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> odomPose,</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">float</span> odomLinearVariance,</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">float</span> odomAngularVariance,</div>
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<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keyword">const</span> std::vector<float> & odomVelocity = std::vector<float>(),</div>
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<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keyword">const</span> std::map<std::string, float> & externalStats = std::map<std::string, float>());</div>
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<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a35cf8fd93f77d1c148ae6d3107725750"> 253</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a35cf8fd93f77d1c148ae6d3107725750">process</a>(</div>
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<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keyword">const</span> cv::Mat & image,</div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span>=0, <span class="keyword">const</span> std::map<std::string, float> & externalStats = std::map<std::string, float>());</div>
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<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> </div>
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<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b"> 271</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b">init</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters, <span class="keyword">const</span> std::string & databasePath = <span class="stringliteral">""</span>, <span class="keywordtype">bool</span> loadDatabaseParameters = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a25bfb157aa3be3bd3c8a1d4200329041"> 282</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a25bfb157aa3be3bd3c8a1d4200329041">init</a>(<span class="keyword">const</span> std::string & configFile = <span class="stringliteral">""</span>, <span class="keyword">const</span> std::string & databasePath = <span class="stringliteral">""</span>, <span class="keywordtype">bool</span> loadDatabaseParameters = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div>
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<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a5e0b2eada8ae885e45df23165bb91d2f"> 294</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a5e0b2eada8ae885e45df23165bb91d2f">close</a>(<span class="keywordtype">bool</span> databaseSaved = <span class="keyword">true</span>, <span class="keyword">const</span> std::string & ouputDatabasePath = <span class="stringliteral">""</span>);</div>
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<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
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<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a61bc4dce59a1da8b904a7dbe39e5038a"> 297</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a61bc4dce59a1da8b904a7dbe39e5038a">getWorkingDir</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _wDir;}</div>
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<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a691de75b6964ab48d7f1ea53ea40f4c1"> 299</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a691de75b6964ab48d7f1ea53ea40f4c1">isRGBDMode</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _rgbdSlamMode; }</div>
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<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a2bc8eecb690ec1e36955119cd2c1a197"> 301</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a2bc8eecb690ec1e36955119cd2c1a197">getLoopClosureId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _loopClosureHypothesis.first;}</div>
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<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#adc87cbb6adde3027b8c20bbba25fec7b"> 303</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#adc87cbb6adde3027b8c20bbba25fec7b">getLoopClosureValue</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _loopClosureHypothesis.second;}</div>
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<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450"> 305</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450">getHighestHypothesisId</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _highestHypothesis.first;}</div>
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<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a530c87cda2cd010e384178bced6611a1"> 307</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a530c87cda2cd010e384178bced6611a1">getHighestHypothesisValue</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _highestHypothesis.second;}</div>
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<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a9406c710b7af988dda1868a3efa8f1dd"> 309</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a9406c710b7af988dda1868a3efa8f1dd">getLastLocationId</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ae3d40ed4ee48954e70d45e0779c24a49"> 311</a></span> std::list<int> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ae3d40ed4ee48954e70d45e0779c24a49">getWM</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a809673c3d0e6d8fb05ebb4a52218d438"> 313</a></span> std::set<int> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a809673c3d0e6d8fb05ebb4a52218d438">getSTM</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a203a18eb60f6c057518fd5129bbc32ff"> 315</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a203a18eb60f6c057518fd5129bbc32ff">getWMSize</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a49adc83991d6b95c7911f41330cbd467"> 317</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a49adc83991d6b95c7911f41330cbd467">getSTMSize</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a353361aeeece3ce8c799d168a5798a01"> 319</a></span> std::map<int, int> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a353361aeeece3ce8c799d168a5798a01">getWeights</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ab44f1bca06eec4beb8dfebeed9ed5ce8"> 321</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ab44f1bca06eec4beb8dfebeed9ed5ce8">getTotalMemSize</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a88ffdd1ba70707e5969deab4f6ee66a0"> 323</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a88ffdd1ba70707e5969deab4f6ee66a0">getLastProcessTime</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _lastProcessTime;};</div>
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<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a596ea3fbeb22c90db9530f6752900ecc"> 325</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a596ea3fbeb22c90db9530f6752900ecc">isInSTM</a>(<span class="keywordtype">int</span> locationId) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a5e85283c6421dcf9afb6961662e501b8"> 327</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a5e85283c6421dcf9afb6961662e501b8">isIDsGenerated</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a5d18002c7eb7cee234471686413d201c"> 329</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> & <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a5d18002c7eb7cee234471686413d201c">getStatistics</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#aebe0bf9364ff8952d041f57c6a1c1d57"> 331</a></span> <span class="keyword">const</span> std::map<int, Transform> & <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#aebe0bf9364ff8952d041f57c6a1c1d57">getLocalOptimizedPoses</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _optimizedPoses;}</div>
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<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a4d1e329f0c0fcc341d14f6853ec86750"> 333</a></span> <span class="keyword">const</span> std::multimap<int, Link> & <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a4d1e329f0c0fcc341d14f6853ec86750">getLocalConstraints</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _constraints;}</div>
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<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ac430e0adb75dc4aec3b7ba77053aabd0"> 337</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ac430e0adb75dc4aec3b7ba77053aabd0">getPose</a>(<span class="keywordtype">int</span> locationId) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a7b71f70a20f1ef42a65fa9571e254711"> 349</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a7b71f70a20f1ef42a65fa9571e254711">getMapCorrection</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _mapCorrection;}</div>
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<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a08adb5e0b8019c1dbd4f571099d2d46b"> 351</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a08adb5e0b8019c1dbd4f571099d2d46b">getMemory</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _memory;}</div>
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<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07"> 353</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07">getGoalReachedRadius</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _goalReachedRadius;}</div>
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<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a6a4c533659621ccb1f6a5ddbc8149306"> 355</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a6a4c533659621ccb1f6a5ddbc8149306">getLocalRadius</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _localRadius;}</div>
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<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a2d2efac02d4a6d1d7bbc505d94fd634b"> 363</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_1Rtabmap.html#a2d2efac02d4a6d1d7bbc505d94fd634b">getLastLocalizationPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _lastLocalizationPose;}</div>
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<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> </div>
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<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#af7fa0cbd1ef027f8bb2af11364487df8"> 369</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#af7fa0cbd1ef027f8bb2af11364487df8">getTimeThreshold</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _maxTimeAllowed;}</div>
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<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a80add8fadd488d0c7781c249abea0d5d"> 383</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a80add8fadd488d0c7781c249abea0d5d">setTimeThreshold</a>(<span class="keywordtype">float</span> maxTimeAllowed);</div>
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<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a876d3599c76de815bee4b278a087cfa5"> 388</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a876d3599c76de815bee4b278a087cfa5">getMemoryThreshold</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _maxMemoryAllowed;}</div>
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<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a6915ee0137b949837addcb5d3ac1646c"> 399</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a6915ee0137b949837addcb5d3ac1646c">setMemoryThreshold</a>(<span class="keywordtype">int</span> maxMemoryAllowed);</div>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
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<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a9a9321531773f37cd5d7740495ede47f"> 448</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a9a9321531773f37cd5d7740495ede47f">setInitialPose</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & initialPose);</div>
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<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a4ab6de2be120bbda75577911d52346d4"> 460</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a4ab6de2be120bbda75577911d52346d4">triggerNewMap</a>();</div>
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<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#af1fe8ed393237bc9ffa1ea93adf0ec9b"> 465</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#af1fe8ed393237bc9ffa1ea93adf0ec9b">labelLocation</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string & label);</div>
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<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6"> 481</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6">setUserData</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> cv::Mat & data);</div>
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<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a3c32f64acd943c676a9b11c7dbd3a5ae"> 488</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a3c32f64acd943c676a9b11c7dbd3a5ae">generateDOTGraph</a>(<span class="keyword">const</span> std::string & path, <span class="keywordtype">int</span> <span class="keywordtype">id</span>=0, <span class="keywordtype">int</span> margin=5);</div>
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<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#aeffdfc811a178ba2e55205b746a6ea71"> 503</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#aeffdfc811a178ba2e55205b746a6ea71">exportPoses</a>(</div>
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<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> <span class="keyword">const</span> std::string & path,</div>
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<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="keywordtype">bool</span> optimized,</div>
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<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> <span class="keywordtype">bool</span> global,</div>
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<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keywordtype">int</span> format</div>
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<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> );</div>
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<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c"> 515</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c">resetMemory</a>();</div>
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<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ad0c040e54bbca27dffc46346d96c57cb"> 517</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ad0c040e54bbca27dffc46346d96c57cb">dumpPrediction</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a38db1c80ae583e255dd6174ba6d41ffc"> 519</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a38db1c80ae583e255dd6174ba6d41ffc">dumpData</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a5a461ed88e83d2dbebee819ab6690e7a"> 524</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a5a461ed88e83d2dbebee819ab6690e7a">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters);</div>
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<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a9ac5900cbc165df1c501606f79c65ec1"> 526</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a9ac5900cbc165df1c501606f79c65ec1">getParameters</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _parameters;}</div>
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<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a25028c3e8d8018c03f47f06150d76eab"> 535</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a25028c3e8d8018c03f47f06150d76eab">setWorkingDirectory</a>(std::string path);</div>
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<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3"> 544</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3">rejectLastLoopClosure</a>();</div>
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<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#aee23115b4bd02bce5d1721418a0f7599"> 553</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#aee23115b4bd02bce5d1721418a0f7599">deleteLastLocation</a>();</div>
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<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a7a841702b925777620714fce7b41fd69"> 568</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a7a841702b925777620714fce7b41fd69">setOptimizedPoses</a>(<span class="keyword">const</span> std::map<int, Transform> & poses, <span class="keyword">const</span> std::multimap<int, Link> & constraints);</div>
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<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a7133d8efa98410eaec68e0199ff98a0c"> 576</a></span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a7133d8efa98410eaec68e0199ff98a0c">getSignatureCopy</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">bool</span> images, <span class="keywordtype">bool</span> scan, <span class="keywordtype">bool</span> userData, <span class="keywordtype">bool</span> occupancyGrid, <span class="keywordtype">bool</span> withWords, <span class="keywordtype">bool</span> withGlobalDescriptors) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> RTABMAP_DEPRECATED</div>
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<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ae617c65a0ba6f95a321b8c0c3a18b0e3"> 582</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ae617c65a0ba6f95a321b8c0c3a18b0e3">get3DMap</a>(std::map<int, Signature> & signatures,</div>
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<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> std::multimap<int, Link> & constraints,</div>
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<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="keywordtype">bool</span> optimized,</div>
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<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="keywordtype">bool</span> global) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3"> 603</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3">getGraph</a>(std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> std::multimap<int, Link> & constraints,</div>
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<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keywordtype">bool</span> optimized,</div>
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<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">bool</span> global,</div>
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<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> std::map<int, Signature> * signatures = 0,</div>
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<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">bool</span> withImages = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <span class="keywordtype">bool</span> withScan = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">bool</span> withUserData = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keywordtype">bool</span> withGrid = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keywordtype">bool</span> withWords = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordtype">bool</span> withGlobalDescriptors = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a1a6498f60f52f65ffbed2d89d7c20648"> 624</a></span> std::map<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a1a6498f60f52f65ffbed2d89d7c20648">getNodesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keywordtype">float</span> radius, <span class="keywordtype">int</span> k=0, std::map<int, float> * distsSqr=0);</div>
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<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a9bd263bbcdbc6f41119f8532131db974"> 635</a></span> std::map<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a9bd263bbcdbc6f41119f8532131db974">getNodesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">float</span> radius, <span class="keywordtype">int</span> k=0, std::map<int, float> * distsSqr=0);</div>
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<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a600d86ab2a67fa08d6a1e726380948ea"> 663</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a600d86ab2a67fa08d6a1e726380948ea">detectMoreLoopClosures</a>(</div>
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<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> <span class="keywordtype">float</span> clusterRadiusMax = 0.5f,</div>
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<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keywordtype">float</span> clusterAngle = M_PI/6.0f,</div>
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<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> <span class="keywordtype">int</span> iterations = 1,</div>
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<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> <span class="keywordtype">bool</span> intraSession = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> <span class="keywordtype">bool</span> interSession = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
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<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> <span class="keywordtype">float</span> clusterRadiusMin = 0.0f,</div>
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<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> <span class="keywordtype">int</span> toFromMapId = -1);</div>
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<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ab1044f290653749990018ca5722f00c7"> 684</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ab1044f290653749990018ca5722f00c7">globalBundleAdjustment</a>(</div>
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<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span> <span class="keywordtype">int</span> optimizerType = 1 <span class="comment">/*g2o*/</span>,</div>
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<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span> <span class="keywordtype">int</span> iterations = 0,</div>
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<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> <span class="keywordtype">float</span> pixelVariance = 0.0f);</div>
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<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ac7de2278aa53a315a63bec05c1f0a15f"> 697</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ac7de2278aa53a315a63bec05c1f0a15f">cleanupLocalGrids</a>(</div>
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<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> <span class="keyword">const</span> std::map<int, Transform> & mapPoses,</div>
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<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> <span class="keyword">const</span> cv::Mat & map,</div>
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<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <span class="keywordtype">float</span> xMin,</div>
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<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> <span class="keywordtype">float</span> yMin,</div>
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<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> <span class="keywordtype">int</span> cropRadius = 1,</div>
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<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> <span class="keywordtype">bool</span> filterScans = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00720" name="l00720"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a6650c241bd6a89f66718ce7a227dfe10"> 720</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a6650c241bd6a89f66718ce7a227dfe10">refineLinks</a>();</div>
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<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#aef03c0d6ee1ef5646ba11be5dbe9faa5"> 729</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#aef03c0d6ee1ef5646ba11be5dbe9faa5">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="l00735" name="l00735"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#aeea47830776fe57c456ae6a673069ddc"> 735</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#aeea47830776fe57c456ae6a673069ddc">getInformation</a>(<span class="keyword">const</span> cv::Mat & covariance) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232"> 750</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232">addNodesToRepublish</a>(<span class="keyword">const</span> std::vector<int> & ids);</div>
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<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a4d351e3f5ef809460afbb5a7702a500d"> 773</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a4d351e3f5ef809460afbb5a7702a500d">setDummyDictionary</a>(<span class="keywordtype">bool</span> enabled = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> </div>
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<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#afe4aa4f9a67ba85b60c7dfda86d0131b"> 776</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#afe4aa4f9a67ba85b60c7dfda86d0131b">getPathStatus</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pathStatus;}</div>
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<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a589cd696bffe53a5e00898631e7d9103"> 781</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a589cd696bffe53a5e00898631e7d9103">clearPath</a>(<span class="keywordtype">int</span> status);</div>
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<div class="line"><a id="l00794" name="l00794"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ab797f7f5bb73a507ba4d4672cd5476df"> 794</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ab797f7f5bb73a507ba4d4672cd5476df">computePath</a>(<span class="keywordtype">int</span> targetNode, <span class="keywordtype">bool</span> global);</div>
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<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a14d5c84b61386e95071e90aba406ff49"> 803</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a14d5c84b61386e95071e90aba406ff49">computePath</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose, <span class="keywordtype">float</span> tolerance = -1.0f);</div>
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<div class="line"><a id="l00805" name="l00805"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a5fe89ac87283a92258d27f42eb7b13f1"> 805</a></span> <span class="keyword">const</span> std::vector<std::pair<int, Transform> > & <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a5fe89ac87283a92258d27f42eb7b13f1">getPath</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _path;}</div>
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<div class="line"><a id="l00807" name="l00807"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#af81fe33ef45e1ad1838bc97d6a73a8be"> 807</a></span> std::vector<std::pair<int, Transform> > <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#af81fe33ef45e1ad1838bc97d6a73a8be">getPathNextPoses</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00809" name="l00809"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a45addb0848702b39c67c2394dd62f739"> 809</a></span> std::vector<int> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a45addb0848702b39c67c2394dd62f739">getPathNextNodes</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00811" name="l00811"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a5f886101463229fcd79bf3dd6418aa5c"> 811</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a5f886101463229fcd79bf3dd6418aa5c">getPathCurrentGoalId</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00813" name="l00813"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a94eecd89994fc02a913b1eb087d85c84"> 813</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a94eecd89994fc02a913b1eb087d85c84">getPathCurrentIndex</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pathCurrentIndex;}</div>
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<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a781713c190497d5f25d7e12112ae4345"> 815</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a781713c190497d5f25d7e12112ae4345">getPathCurrentGoalIndex</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pathGoalIndex;}</div>
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<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#aedf5dce175ee325822ab7b7772c8d4f5"> 817</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_1Rtabmap.html#aedf5dce175ee325822ab7b7772c8d4f5">getPathTransformToGoal</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pathTransformToGoal;}</div>
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<div class="line"><a id="l00818" name="l00818"></a><span class="lineno"> 818</span> </div>
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<div class="line"><a id="l00843" name="l00843"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872"> 843</a></span> std::map<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872">getForwardWMPoses</a>(<span class="keywordtype">int</span> fromId, <span class="keywordtype">int</span> maxNearestNeighbors, <span class="keywordtype">float</span> radius, <span class="keywordtype">int</span> maxDiffID) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00879" name="l00879"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#ad314edf995555480a2db1aceb7fd2ee7"> 879</a></span> std::map<int, std::map<int, Transform> > <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#ad314edf995555480a2db1aceb7fd2ee7">getPaths</a>(<span class="keyword">const</span> std::map<int, Transform> & poses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & target, <span class="keywordtype">int</span> maxGraphDepth = 0) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00910" name="l00910"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Rtabmap.html#aad648f09bb04b193907528987ccda413"> 910</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Rtabmap.html#aad648f09bb04b193907528987ccda413">adjustLikelihood</a>(std::map<int, float> & likelihood) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00911" name="l00911"></a><span class="lineno"> 911</span> </div>
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<div class="line"><a id="l00912" name="l00912"></a><span class="lineno"> 912</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00913" name="l00913"></a><span class="lineno"> 913</span> <span class="keywordtype">void</span> optimizeCurrentMap(<span class="keywordtype">int</span> <span class="keywordtype">id</span>,</div>
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<div class="line"><a id="l00914" name="l00914"></a><span class="lineno"> 914</span> <span class="keywordtype">bool</span> lookInDatabase,</div>
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<div class="line"><a id="l00915" name="l00915"></a><span class="lineno"> 915</span> std::map<int, Transform> & optimizedPoses,</div>
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|
<div class="line"><a id="l00916" name="l00916"></a><span class="lineno"> 916</span> cv::Mat & covariance,</div>
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|
<div class="line"><a id="l00917" name="l00917"></a><span class="lineno"> 917</span> std::multimap<int, Link> * constraints = 0,</div>
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|
<div class="line"><a id="l00918" name="l00918"></a><span class="lineno"> 918</span> <span class="keywordtype">double</span> * error = 0,</div>
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|
<div class="line"><a id="l00919" name="l00919"></a><span class="lineno"> 919</span> <span class="keywordtype">int</span> * iterationsDone = 0) <span class="keyword">const</span>;</div>
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|
<div class="line"><a id="l00920" name="l00920"></a><span class="lineno"> 920</span> std::map<int, Transform> optimizeGraph(</div>
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|
<div class="line"><a id="l00921" name="l00921"></a><span class="lineno"> 921</span> <span class="keywordtype">int</span> fromId,</div>
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|
<div class="line"><a id="l00922" name="l00922"></a><span class="lineno"> 922</span> <span class="keyword">const</span> std::set<int> & ids,</div>
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|
<div class="line"><a id="l00923" name="l00923"></a><span class="lineno"> 923</span> <span class="keyword">const</span> std::map<int, Transform> & guessPoses,</div>
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<div class="line"><a id="l00924" name="l00924"></a><span class="lineno"> 924</span> <span class="keywordtype">bool</span> lookInDatabase,</div>
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|
<div class="line"><a id="l00925" name="l00925"></a><span class="lineno"> 925</span> cv::Mat & covariance,</div>
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|
<div class="line"><a id="l00926" name="l00926"></a><span class="lineno"> 926</span> std::multimap<int, Link> * constraints = 0,</div>
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|
<div class="line"><a id="l00927" name="l00927"></a><span class="lineno"> 927</span> <span class="keywordtype">double</span> * error = 0,</div>
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|
<div class="line"><a id="l00928" name="l00928"></a><span class="lineno"> 928</span> <span class="keywordtype">int</span> * iterationsDone = 0) <span class="keyword">const</span>;</div>
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|
<div class="line"><a id="l00929" name="l00929"></a><span class="lineno"> 929</span> std::list<std::pair<int, int> > repairGraph(</div>
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|
<div class="line"><a id="l00930" name="l00930"></a><span class="lineno"> 930</span> <a class="code hl_struct" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">graph::MaxGraphErrors</a> & maxGraphErrors,</div>
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|
<div class="line"><a id="l00931" name="l00931"></a><span class="lineno"> 931</span> std::map<int, Transform> & poses,</div>
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|
<div class="line"><a id="l00932" name="l00932"></a><span class="lineno"> 932</span> std::multimap<int, Link> & constraints,</div>
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|
<div class="line"><a id="l00933" name="l00933"></a><span class="lineno"> 933</span> <span class="keywordtype">double</span> & optimizationError,</div>
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|
<div class="line"><a id="l00934" name="l00934"></a><span class="lineno"> 934</span> <span class="keywordtype">int</span> & optimizationIterations,</div>
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|
<div class="line"><a id="l00935" name="l00935"></a><span class="lineno"> 935</span> cv::Mat & optimizationCovariance);</div>
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|
<div class="line"><a id="l00936" name="l00936"></a><span class="lineno"> 936</span> <span class="keywordtype">void</span> updateGoalIndex();</div>
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|
<div class="line"><a id="l00937" name="l00937"></a><span class="lineno"> 937</span> <span class="keywordtype">bool</span> computePath(<span class="keywordtype">int</span> targetNode, std::map<int, Transform> nodes, <span class="keyword">const</span> std::multimap<int, rtabmap::Link> & constraints);</div>
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|
<div class="line"><a id="l00938" name="l00938"></a><span class="lineno"> 938</span> </div>
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|
<div class="line"><a id="l00939" name="l00939"></a><span class="lineno"> 939</span> <span class="keywordtype">void</span> createGlobalScanMap();</div>
|
|
<div class="line"><a id="l00940" name="l00940"></a><span class="lineno"> 940</span> </div>
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|
<div class="line"><a id="l00941" name="l00941"></a><span class="lineno"> 941</span> <span class="keywordtype">void</span> setupLogFiles(<span class="keywordtype">bool</span> overwrite = <span class="keyword">false</span>);</div>
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|
<div class="line"><a id="l00942" name="l00942"></a><span class="lineno"> 942</span> <span class="keywordtype">void</span> flushStatisticLogs();</div>
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|
<div class="line"><a id="l00943" name="l00943"></a><span class="lineno"> 943</span> </div>
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|
<div class="line"><a id="l00944" name="l00944"></a><span class="lineno"> 944</span><span class="keyword">private</span>:</div>
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|
<div class="line"><a id="l00945" name="l00945"></a><span class="lineno"> 945</span> <span class="comment">// Modifiable parameters</span></div>
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|
<div class="line"><a id="l00946" name="l00946"></a><span class="lineno"> 946</span> <span class="keywordtype">bool</span> _publishStats;</div>
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|
<div class="line"><a id="l00947" name="l00947"></a><span class="lineno"> 947</span> <span class="keywordtype">bool</span> _publishLastSignatureData;</div>
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|
<div class="line"><a id="l00948" name="l00948"></a><span class="lineno"> 948</span> <span class="keywordtype">bool</span> _publishPdf;</div>
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|
<div class="line"><a id="l00949" name="l00949"></a><span class="lineno"> 949</span> <span class="keywordtype">bool</span> _publishLikelihood;</div>
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|
<div class="line"><a id="l00950" name="l00950"></a><span class="lineno"> 950</span> <span class="keywordtype">bool</span> _publishRAMUsage;</div>
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|
<div class="line"><a id="l00951" name="l00951"></a><span class="lineno"> 951</span> <span class="keywordtype">bool</span> _computeRMSE;</div>
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|
<div class="line"><a id="l00952" name="l00952"></a><span class="lineno"> 952</span> <span class="keywordtype">bool</span> _saveWMState;</div>
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|
<div class="line"><a id="l00953" name="l00953"></a><span class="lineno"> 953</span> <span class="keywordtype">float</span> _maxTimeAllowed; </div>
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|
<div class="line"><a id="l00954" name="l00954"></a><span class="lineno"> 954</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _maxMemoryAllowed; </div>
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|
<div class="line"><a id="l00955" name="l00955"></a><span class="lineno"> 955</span> <span class="keywordtype">float</span> _loopThr;</div>
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|
<div class="line"><a id="l00956" name="l00956"></a><span class="lineno"> 956</span> <span class="keywordtype">float</span> _loopRatio;</div>
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|
<div class="line"><a id="l00957" name="l00957"></a><span class="lineno"> 957</span> <span class="keywordtype">float</span> _aggressiveLoopThr;</div>
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|
<div class="line"><a id="l00958" name="l00958"></a><span class="lineno"> 958</span> <span class="keywordtype">int</span> _virtualPlaceLikelihoodRatio;</div>
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|
<div class="line"><a id="l00959" name="l00959"></a><span class="lineno"> 959</span> <span class="keywordtype">float</span> _maxLoopClosureDistance;</div>
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|
<div class="line"><a id="l00960" name="l00960"></a><span class="lineno"> 960</span> <span class="keywordtype">bool</span> _verifyLoopClosureHypothesis;</div>
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|
<div class="line"><a id="l00961" name="l00961"></a><span class="lineno"> 961</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _maxRetrieved;</div>
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|
<div class="line"><a id="l00962" name="l00962"></a><span class="lineno"> 962</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _maxLocalRetrieved;</div>
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|
<div class="line"><a id="l00963" name="l00963"></a><span class="lineno"> 963</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _maxRepublished;</div>
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|
<div class="line"><a id="l00964" name="l00964"></a><span class="lineno"> 964</span> <span class="keywordtype">bool</span> _rawDataKept;</div>
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|
<div class="line"><a id="l00965" name="l00965"></a><span class="lineno"> 965</span> <span class="keywordtype">bool</span> _statisticLogsBufferedInRAM;</div>
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|
<div class="line"><a id="l00966" name="l00966"></a><span class="lineno"> 966</span> <span class="keywordtype">bool</span> _statisticLogged;</div>
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|
<div class="line"><a id="l00967" name="l00967"></a><span class="lineno"> 967</span> <span class="keywordtype">bool</span> _statisticLoggedHeaders;</div>
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|
<div class="line"><a id="l00968" name="l00968"></a><span class="lineno"> 968</span> <span class="keywordtype">bool</span> _rgbdSlamMode;</div>
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|
<div class="line"><a id="l00969" name="l00969"></a><span class="lineno"> 969</span> <span class="keywordtype">float</span> _rgbdLinearUpdate;</div>
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|
<div class="line"><a id="l00970" name="l00970"></a><span class="lineno"> 970</span> <span class="keywordtype">float</span> _rgbdAngularUpdate;</div>
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|
<div class="line"><a id="l00971" name="l00971"></a><span class="lineno"> 971</span> <span class="keywordtype">float</span> _rgbdLinearSpeedUpdate;</div>
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|
<div class="line"><a id="l00972" name="l00972"></a><span class="lineno"> 972</span> <span class="keywordtype">float</span> _rgbdAngularSpeedUpdate;</div>
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|
<div class="line"><a id="l00973" name="l00973"></a><span class="lineno"> 973</span> <span class="keywordtype">float</span> _newMapOdomChangeDistance;</div>
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|
<div class="line"><a id="l00974" name="l00974"></a><span class="lineno"> 974</span> <span class="keywordtype">bool</span> _neighborLinkRefining;</div>
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|
<div class="line"><a id="l00975" name="l00975"></a><span class="lineno"> 975</span> <span class="keywordtype">bool</span> _proximityByTime;</div>
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|
<div class="line"><a id="l00976" name="l00976"></a><span class="lineno"> 976</span> <span class="keywordtype">bool</span> _proximityBySpace;</div>
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|
<div class="line"><a id="l00977" name="l00977"></a><span class="lineno"> 977</span> <span class="keywordtype">bool</span> _scanMatchingIdsSavedInLinks;</div>
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|
<div class="line"><a id="l00978" name="l00978"></a><span class="lineno"> 978</span> <span class="keywordtype">bool</span> _loopClosureIdentityGuess;</div>
|
|
<div class="line"><a id="l00979" name="l00979"></a><span class="lineno"> 979</span> <span class="keywordtype">float</span> _localRadius;</div>
|
|
<div class="line"><a id="l00980" name="l00980"></a><span class="lineno"> 980</span> <span class="keywordtype">float</span> _localImmunizationRatio;</div>
|
|
<div class="line"><a id="l00981" name="l00981"></a><span class="lineno"> 981</span> <span class="keywordtype">int</span> _proximityMaxGraphDepth;</div>
|
|
<div class="line"><a id="l00982" name="l00982"></a><span class="lineno"> 982</span> <span class="keywordtype">int</span> _proximityMaxPaths;</div>
|
|
<div class="line"><a id="l00983" name="l00983"></a><span class="lineno"> 983</span> <span class="keywordtype">int</span> _proximityMaxNeighbors;</div>
|
|
<div class="line"><a id="l00984" name="l00984"></a><span class="lineno"> 984</span> <span class="keywordtype">float</span> _proximityFilteringRadius;</div>
|
|
<div class="line"><a id="l00985" name="l00985"></a><span class="lineno"> 985</span> <span class="keywordtype">bool</span> _proximityRawPosesUsed;</div>
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|
<div class="line"><a id="l00986" name="l00986"></a><span class="lineno"> 986</span> <span class="keywordtype">float</span> _proximityAngle;</div>
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|
<div class="line"><a id="l00987" name="l00987"></a><span class="lineno"> 987</span> <span class="keywordtype">bool</span> _proximityOdomGuess;</div>
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|
<div class="line"><a id="l00988" name="l00988"></a><span class="lineno"> 988</span> <span class="keywordtype">double</span> _proximityMergedScanCovFactor;</div>
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|
<div class="line"><a id="l00989" name="l00989"></a><span class="lineno"> 989</span> std::string _databasePath;</div>
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|
<div class="line"><a id="l00990" name="l00990"></a><span class="lineno"> 990</span> <span class="keywordtype">bool</span> _optimizeFromGraphEnd;</div>
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|
<div class="line"><a id="l00991" name="l00991"></a><span class="lineno"> 991</span> <span class="keywordtype">float</span> _optimizationMaxError;</div>
|
|
<div class="line"><a id="l00992" name="l00992"></a><span class="lineno"> 992</span> <span class="keywordtype">float</span> _optimizationMaxErrorRepairRadius;</div>
|
|
<div class="line"><a id="l00993" name="l00993"></a><span class="lineno"> 993</span> <span class="keywordtype">bool</span> _startNewMapOnLoopClosure;</div>
|
|
<div class="line"><a id="l00994" name="l00994"></a><span class="lineno"> 994</span> <span class="keywordtype">bool</span> _startNewMapOnGoodSignature;</div>
|
|
<div class="line"><a id="l00995" name="l00995"></a><span class="lineno"> 995</span> <span class="keywordtype">float</span> _goalReachedRadius; </div>
|
|
<div class="line"><a id="l00996" name="l00996"></a><span class="lineno"> 996</span> <span class="keywordtype">bool</span> _goalsSavedInUserData;</div>
|
|
<div class="line"><a id="l00997" name="l00997"></a><span class="lineno"> 997</span> <span class="keywordtype">int</span> _pathStuckIterations;</div>
|
|
<div class="line"><a id="l00998" name="l00998"></a><span class="lineno"> 998</span> <span class="keywordtype">float</span> _pathLinearVelocity;</div>
|
|
<div class="line"><a id="l00999" name="l00999"></a><span class="lineno"> 999</span> <span class="keywordtype">float</span> _pathAngularVelocity;</div>
|
|
<div class="line"><a id="l01000" name="l01000"></a><span class="lineno"> 1000</span> <span class="keywordtype">bool</span> _forceOdom3doF;</div>
|
|
<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"> 1001</span> <span class="keywordtype">bool</span> _restartAtOrigin;</div>
|
|
<div class="line"><a id="l01002" name="l01002"></a><span class="lineno"> 1002</span> <span class="keywordtype">bool</span> _loopCovLimited;</div>
|
|
<div class="line"><a id="l01003" name="l01003"></a><span class="lineno"> 1003</span> <span class="keywordtype">bool</span> _loopGPS;</div>
|
|
<div class="line"><a id="l01004" name="l01004"></a><span class="lineno"> 1004</span> <span class="keywordtype">int</span> _maxOdomCacheSize;</div>
|
|
<div class="line"><a id="l01005" name="l01005"></a><span class="lineno"> 1005</span> <span class="keywordtype">bool</span> _localizationSmoothing;</div>
|
|
<div class="line"><a id="l01006" name="l01006"></a><span class="lineno"> 1006</span> <span class="keywordtype">double</span> _localizationPriorInf;</div>
|
|
<div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</span> <span class="keywordtype">bool</span> _localizationSecondTryWithoutProximityLinks;</div>
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|
<div class="line"><a id="l01008" name="l01008"></a><span class="lineno"> 1008</span> <span class="keywordtype">bool</span> _createGlobalScanMap;</div>
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|
<div class="line"><a id="l01009" name="l01009"></a><span class="lineno"> 1009</span> <span class="keywordtype">float</span> _markerPriorsLinearVariance;</div>
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|
<div class="line"><a id="l01010" name="l01010"></a><span class="lineno"> 1010</span> <span class="keywordtype">float</span> _markerPriorsAngularVariance;</div>
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|
<div class="line"><a id="l01011" name="l01011"></a><span class="lineno"> 1011</span> </div>
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|
<div class="line"><a id="l01012" name="l01012"></a><span class="lineno"> 1012</span> std::pair<int, float> _loopClosureHypothesis;</div>
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|
<div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</span> std::pair<int, float> _highestHypothesis;</div>
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|
<div class="line"><a id="l01014" name="l01014"></a><span class="lineno"> 1014</span> <span class="keywordtype">double</span> _lastProcessTime;</div>
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|
<div class="line"><a id="l01015" name="l01015"></a><span class="lineno"> 1015</span> <span class="keywordtype">bool</span> _someNodesHaveBeenTransferred;</div>
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|
<div class="line"><a id="l01016" name="l01016"></a><span class="lineno"> 1016</span> <span class="keywordtype">float</span> _distanceTravelled;</div>
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|
<div class="line"><a id="l01017" name="l01017"></a><span class="lineno"> 1017</span> <span class="keywordtype">float</span> _distanceTravelledSinceLastLocalization;</div>
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|
<div class="line"><a id="l01018" name="l01018"></a><span class="lineno"> 1018</span> <span class="keywordtype">bool</span> _optimizeFromGraphEndChanged;</div>
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|
<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> </div>
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|
<div class="line"><a id="l01020" name="l01020"></a><span class="lineno"> 1020</span> <span class="comment">// Abstract classes containing all loop closure</span></div>
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|
<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span> <span class="comment">// strategies for a type of signature or configuration.</span></div>
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|
<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span> <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">EpipolarGeometry</a> * _epipolarGeometry;</div>
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|
<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"> 1023</span> <a class="code hl_class" href="classrtabmap_1_1BayesFilter.html">BayesFilter</a> * _bayesFilter;</div>
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|
<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * _graphOptimizer;</div>
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|
<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> _parameters;</div>
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|
<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span> </div>
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|
<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * _memory;</div>
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|
<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> </div>
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|
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span> FILE* _foutFloat;</div>
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|
<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> FILE* _foutInt;</div>
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|
<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> std::list<std::string> _bufferedLogsF;</div>
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|
<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> std::list<std::string> _bufferedLogsI;</div>
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|
<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> </div>
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|
<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> statistics_;</div>
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|
<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span> </div>
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|
<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> std::string _wDir;</div>
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|
<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> </div>
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|
<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> std::map<int, Transform> _optimizedPoses;</div>
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|
<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> std::multimap<int, Link> _constraints;</div>
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|
<div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _mapCorrection;</div>
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|
<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _mapCorrectionBackup; </div>
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<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _lastLocalizationPose; </div>
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|
<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"> 1043</span> <span class="keywordtype">int</span> _lastLocalizationNodeId; </div>
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|
<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> cv::Mat _localizationCovariance;</div>
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|
<div class="line"><a id="l01045" name="l01045"></a><span class="lineno"> 1045</span> std::map<int, std::pair<cv::Point3d, Transform> > _gpsGeocentricCache;</div>
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|
<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> <span class="keywordtype">bool</span> _currentSessionHasGPS;</div>
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|
<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> _globalScanMap;</div>
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<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> std::map<int, Transform> _globalScanMapPoses;</div>
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<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> std::map<int, Transform> _odomCachePoses; </div>
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<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> std::multimap<int, Link> _odomCacheConstraints; </div>
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<div class="line"><a id="l01051" name="l01051"></a><span class="lineno"> 1051</span> std::map<int, Transform> _markerPriors;</div>
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<div class="line"><a id="l01052" name="l01052"></a><span class="lineno"> 1052</span> std::pair<int, int> _lastRejectedLoopClosureIds;</div>
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<div class="line"><a id="l01053" name="l01053"></a><span class="lineno"> 1053</span> </div>
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<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"> 1054</span> std::set<int> _nodesToRepublish;</div>
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<div class="line"><a id="l01055" name="l01055"></a><span class="lineno"> 1055</span> </div>
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<div class="line"><a id="l01056" name="l01056"></a><span class="lineno"> 1056</span> <span class="comment">// Planning stuff</span></div>
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<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> <span class="keywordtype">int</span> _pathStatus;</div>
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<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> std::vector<std::pair<int,Transform> > _path;</div>
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<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"> 1059</span> std::set<unsigned int> _pathUnreachableNodes;</div>
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<div class="line"><a id="l01060" name="l01060"></a><span class="lineno"> 1060</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _pathCurrentIndex;</div>
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<div class="line"><a id="l01061" name="l01061"></a><span class="lineno"> 1061</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _pathGoalIndex;</div>
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<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"> 1062</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pathTransformToGoal;</div>
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<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"> 1063</span> <span class="keywordtype">int</span> _pathStuckCount;</div>
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<div class="line"><a id="l01064" name="l01064"></a><span class="lineno"> 1064</span> <span class="keywordtype">float</span> _pathStuckDistance;</div>
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<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> </div>
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<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> <span class="keywordtype">bool</span> _dummyDictionary;</div>
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<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span>};</div>
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</div>
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<div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> </div>
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<div class="line"><a id="l01069" name="l01069"></a><span class="lineno"> 1069</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l01070" name="l01070"></a><span class="lineno"> 1070</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAP_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1BayesFilter_html"><div class="ttname"><a href="classrtabmap_1_1BayesFilter.html">rtabmap::BayesFilter</a></div><div class="ttdoc">Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00081">BayesFilter.h:82</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1EpipolarGeometry_html"><div class="ttname"><a href="classrtabmap_1_1EpipolarGeometry.html">rtabmap::EpipolarGeometry</a></div><div class="ttdef"><b>Definition</b> <a href="EpipolarGeometry_8h_source.html#l00049">EpipolarGeometry.h:50</a></div></div>
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<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>
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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_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00090">Optimizer.h:91</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1ProgressState_html"><div class="ttname"><a href="classrtabmap_1_1ProgressState.html">rtabmap::ProgressState</a></div><div class="ttdef"><b>Definition</b> <a href="ProgressState_8h_source.html#l00035">ProgressState.h:36</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a037ddb5d737e0466d7610b88d8429bd6"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6">rtabmap::Rtabmap::setUserData</a></div><div class="ttdeci">bool setUserData(int id, const cv::Mat &data)</div><div class="ttdoc">Attaches user data to signature id, compressing it on the fly if needed.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a08adb5e0b8019c1dbd4f571099d2d46b"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a08adb5e0b8019c1dbd4f571099d2d46b">rtabmap::Rtabmap::getMemory</a></div><div class="ttdeci">const Memory * getMemory() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00351">Rtabmap.h:351</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a0d2caf505525f635bda914e73aa59232"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232">rtabmap::Rtabmap::addNodesToRepublish</a></div><div class="ttdeci">void addNodesToRepublish(const std::vector< int > &ids)</div><div class="ttdoc">Marks node ids whose data should be re-emitted on the next process().</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a14d5c84b61386e95071e90aba406ff49"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a14d5c84b61386e95071e90aba406ff49">rtabmap::Rtabmap::computePath</a></div><div class="ttdeci">bool computePath(const Transform &targetPose, float tolerance=-1.0f)</div><div class="ttdoc">Plans a path in the current optimized map toward a metric goal pose.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a1a6498f60f52f65ffbed2d89d7c20648"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a1a6498f60f52f65ffbed2d89d7c20648">rtabmap::Rtabmap::getNodesInRadius</a></div><div class="ttdeci">std::map< int, Transform > getNodesInRadius(const Transform &pose, float radius, int k=0, std::map< int, float > *distsSqr=0)</div><div class="ttdoc">Returns optimized poses within a metric radius of pose.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a203a18eb60f6c057518fd5129bbc32ff"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a203a18eb60f6c057518fd5129bbc32ff">rtabmap::Rtabmap::getWMSize</a></div><div class="ttdeci">int getWMSize() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a25028c3e8d8018c03f47f06150d76eab"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a25028c3e8d8018c03f47f06150d76eab">rtabmap::Rtabmap::setWorkingDirectory</a></div><div class="ttdeci">void setWorkingDirectory(std::string path)</div><div class="ttdoc">Sets the working directory used for dumps, logs and temporary files.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a25bfb157aa3be3bd3c8a1d4200329041"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a25bfb157aa3be3bd3c8a1d4200329041">rtabmap::Rtabmap::init</a></div><div class="ttdeci">void init(const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false)</div><div class="ttdoc">Initializes Rtabmap from a configuration file and a database.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a2bc8eecb690ec1e36955119cd2c1a197"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a2bc8eecb690ec1e36955119cd2c1a197">rtabmap::Rtabmap::getLoopClosureId</a></div><div class="ttdeci">int getLoopClosureId() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00301">Rtabmap.h:301</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a2d2efac02d4a6d1d7bbc505d94fd634b"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a2d2efac02d4a6d1d7bbc505d94fd634b">rtabmap::Rtabmap::getLastLocalizationPose</a></div><div class="ttdeci">const Transform & getLastLocalizationPose() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00363">Rtabmap.h:363</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a353361aeeece3ce8c799d168a5798a01"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a353361aeeece3ce8c799d168a5798a01">rtabmap::Rtabmap::getWeights</a></div><div class="ttdeci">std::map< int, int > getWeights() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a35cf8fd93f77d1c148ae6d3107725750"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a35cf8fd93f77d1c148ae6d3107725750">rtabmap::Rtabmap::process</a></div><div class="ttdeci">bool process(const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())</div><div class="ttdoc">Appearance-only convenience overload (loop-closure detection without odometry).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a38db1c80ae583e255dd6174ba6d41ffc"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a38db1c80ae583e255dd6174ba6d41ffc">rtabmap::Rtabmap::dumpData</a></div><div class="ttdeci">void dumpData() const</div><div class="ttdoc">Dumps the Memory state (signatures, words, dictionary) to the working directory.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a3c32f64acd943c676a9b11c7dbd3a5ae"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a3c32f64acd943c676a9b11c7dbd3a5ae">rtabmap::Rtabmap::generateDOTGraph</a></div><div class="ttdeci">void generateDOTGraph(const std::string &path, int id=0, int margin=5)</div><div class="ttdoc">Writes a Graphviz DOT file of the pose graph.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a456fa0c95770f052d78f6d9f745fa1e3"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3">rtabmap::Rtabmap::getGraph</a></div><div class="ttdeci">void getGraph(std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0, bool withImages=false, bool withScan=false, bool withUserData=false, bool withGrid=false, bool withWords=true, bool withGlobalDescriptors=true) const</div><div class="ttdoc">Extracts a full snapshot of the current pose graph.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a45addb0848702b39c67c2394dd62f739"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a45addb0848702b39c67c2394dd62f739">rtabmap::Rtabmap::getPathNextNodes</a></div><div class="ttdeci">std::vector< int > getPathNextNodes() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a49adc83991d6b95c7911f41330cbd467"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a49adc83991d6b95c7911f41330cbd467">rtabmap::Rtabmap::getSTMSize</a></div><div class="ttdeci">int getSTMSize() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a4ab6de2be120bbda75577911d52346d4"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a4ab6de2be120bbda75577911d52346d4">rtabmap::Rtabmap::triggerNewMap</a></div><div class="ttdeci">int triggerNewMap()</div><div class="ttdoc">Starts a new map session (next process() will create a fresh map id).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a4d1e329f0c0fcc341d14f6853ec86750"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a4d1e329f0c0fcc341d14f6853ec86750">rtabmap::Rtabmap::getLocalConstraints</a></div><div class="ttdeci">const std::multimap< int, Link > & getLocalConstraints() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00333">Rtabmap.h:333</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a4d351e3f5ef809460afbb5a7702a500d"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a4d351e3f5ef809460afbb5a7702a500d">rtabmap::Rtabmap::setDummyDictionary</a></div><div class="ttdeci">void setDummyDictionary(bool enabled=true)</div><div class="ttdoc">Loads the visual word dictionary as ids only, without descriptors.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a530c87cda2cd010e384178bced6611a1"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a530c87cda2cd010e384178bced6611a1">rtabmap::Rtabmap::getHighestHypothesisValue</a></div><div class="ttdeci">float getHighestHypothesisValue() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00307">Rtabmap.h:307</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a589cd696bffe53a5e00898631e7d9103"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a589cd696bffe53a5e00898631e7d9103">rtabmap::Rtabmap::clearPath</a></div><div class="ttdeci">void clearPath(int status)</div><div class="ttdoc">Clears the current path and sets its terminal status.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a596ea3fbeb22c90db9530f6752900ecc"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a596ea3fbeb22c90db9530f6752900ecc">rtabmap::Rtabmap::isInSTM</a></div><div class="ttdeci">bool isInSTM(int locationId) const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a5a461ed88e83d2dbebee819ab6690e7a"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a5a461ed88e83d2dbebee819ab6690e7a">rtabmap::Rtabmap::parseParameters</a></div><div class="ttdeci">void parseParameters(const ParametersMap &parameters)</div><div class="ttdoc">Re-parses parameters and propagates them to owned sub-objects (Memory, BayesFilter,...</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a5d18002c7eb7cee234471686413d201c"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a5d18002c7eb7cee234471686413d201c">rtabmap::Rtabmap::getStatistics</a></div><div class="ttdeci">const Statistics & getStatistics() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a5e0b2eada8ae885e45df23165bb91d2f"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a5e0b2eada8ae885e45df23165bb91d2f">rtabmap::Rtabmap::close</a></div><div class="ttdeci">void close(bool databaseSaved=true, const std::string &ouputDatabasePath="")</div><div class="ttdoc">Closes Rtabmap and releases the underlying Memory.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a5e85283c6421dcf9afb6961662e501b8"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a5e85283c6421dcf9afb6961662e501b8">rtabmap::Rtabmap::isIDsGenerated</a></div><div class="ttdeci">bool isIDsGenerated() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a5f886101463229fcd79bf3dd6418aa5c"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a5f886101463229fcd79bf3dd6418aa5c">rtabmap::Rtabmap::getPathCurrentGoalId</a></div><div class="ttdeci">int getPathCurrentGoalId() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a5fe89ac87283a92258d27f42eb7b13f1"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a5fe89ac87283a92258d27f42eb7b13f1">rtabmap::Rtabmap::getPath</a></div><div class="ttdeci">const std::vector< std::pair< int, Transform > > & getPath() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00805">Rtabmap.h:805</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a600d86ab2a67fa08d6a1e726380948ea"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a600d86ab2a67fa08d6a1e726380948ea">rtabmap::Rtabmap::detectMoreLoopClosures</a></div><div class="ttdeci">int detectMoreLoopClosures(float clusterRadiusMax=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, bool intraSession=true, bool interSession=true, const ProgressState *state=0, float clusterRadiusMin=0.0f, int toFromMapId=-1)</div><div class="ttdoc">Post-processing: searches for additional loop closures over the existing graph.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a6098155788f6e9ccaa636e26f8881c07"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07">rtabmap::Rtabmap::getGoalReachedRadius</a></div><div class="ttdeci">float getGoalReachedRadius() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00353">Rtabmap.h:353</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a61bc4dce59a1da8b904a7dbe39e5038a"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a61bc4dce59a1da8b904a7dbe39e5038a">rtabmap::Rtabmap::getWorkingDir</a></div><div class="ttdeci">const std::string & getWorkingDir() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00297">Rtabmap.h:297</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a6650c241bd6a89f66718ce7a227dfe10"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a6650c241bd6a89f66718ce7a227dfe10">rtabmap::Rtabmap::refineLinks</a></div><div class="ttdeci">int refineLinks()</div><div class="ttdoc">Re-runs registration on every link of the current graph and updates the ones that converge.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a6915ee0137b949837addcb5d3ac1646c"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a6915ee0137b949837addcb5d3ac1646c">rtabmap::Rtabmap::setMemoryThreshold</a></div><div class="ttdeci">void setMemoryThreshold(int maxMemoryAllowed)</div><div class="ttdoc">Sets the maximum number of signatures kept in WM (0 = unbounded).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a691de75b6964ab48d7f1ea53ea40f4c1"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a691de75b6964ab48d7f1ea53ea40f4c1">rtabmap::Rtabmap::isRGBDMode</a></div><div class="ttdeci">bool isRGBDMode() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00299">Rtabmap.h:299</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a6a4c533659621ccb1f6a5ddbc8149306"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a6a4c533659621ccb1f6a5ddbc8149306">rtabmap::Rtabmap::getLocalRadius</a></div><div class="ttdeci">float getLocalRadius() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00355">Rtabmap.h:355</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a711c479925db2c9f8201aacffe70281b"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b">rtabmap::Rtabmap::init</a></div><div class="ttdeci">void init(const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false)</div><div class="ttdoc">Initializes Rtabmap with parameters and a database.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a7133d8efa98410eaec68e0199ff98a0c"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a7133d8efa98410eaec68e0199ff98a0c">rtabmap::Rtabmap::getSignatureCopy</a></div><div class="ttdeci">Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const</div><div class="ttdoc">Returns a copy of signature id with optional payloads attached.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a781713c190497d5f25d7e12112ae4345"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a781713c190497d5f25d7e12112ae4345">rtabmap::Rtabmap::getPathCurrentGoalIndex</a></div><div class="ttdeci">unsigned int getPathCurrentGoalIndex() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00815">Rtabmap.h:815</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a7a841702b925777620714fce7b41fd69"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a7a841702b925777620714fce7b41fd69">rtabmap::Rtabmap::setOptimizedPoses</a></div><div class="ttdeci">void setOptimizedPoses(const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints)</div><div class="ttdoc">Replaces the current optimized poses and constraints with externally provided ones.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a7b71f70a20f1ef42a65fa9571e254711"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a7b71f70a20f1ef42a65fa9571e254711">rtabmap::Rtabmap::getMapCorrection</a></div><div class="ttdeci">Transform getMapCorrection() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00349">Rtabmap.h:349</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a809673c3d0e6d8fb05ebb4a52218d438"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a809673c3d0e6d8fb05ebb4a52218d438">rtabmap::Rtabmap::getSTM</a></div><div class="ttdeci">std::set< int > getSTM() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a80add8fadd488d0c7781c249abea0d5d"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a80add8fadd488d0c7781c249abea0d5d">rtabmap::Rtabmap::setTimeThreshold</a></div><div class="ttdeci">void setTimeThreshold(float maxTimeAllowed)</div><div class="ttdoc">Sets the per-iteration time budget (ms).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a8400ccecd090cb438d16178930fe0872"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872">rtabmap::Rtabmap::getForwardWMPoses</a></div><div class="ttdeci">std::map< int, Transform > getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const</div><div class="ttdoc">Returns optimized poses of WM nodes located in front of fromId.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a876d3599c76de815bee4b278a087cfa5"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a876d3599c76de815bee4b278a087cfa5">rtabmap::Rtabmap::getMemoryThreshold</a></div><div class="ttdeci">int getMemoryThreshold() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00388">Rtabmap.h:388</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a88ffdd1ba70707e5969deab4f6ee66a0"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a88ffdd1ba70707e5969deab4f6ee66a0">rtabmap::Rtabmap::getLastProcessTime</a></div><div class="ttdeci">double getLastProcessTime() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00323">Rtabmap.h:323</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a91cedf4574a557cadf6daded489e4dbe"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a91cedf4574a557cadf6daded489e4dbe">rtabmap::Rtabmap::process</a></div><div class="ttdeci">bool process(const SensorData &data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())</div><div class="ttdoc">Convenience overload: builds a diagonal covariance from scalar variances.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a9406c710b7af988dda1868a3efa8f1dd"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a9406c710b7af988dda1868a3efa8f1dd">rtabmap::Rtabmap::getLastLocationId</a></div><div class="ttdeci">int getLastLocationId() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a94eecd89994fc02a913b1eb087d85c84"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a94eecd89994fc02a913b1eb087d85c84">rtabmap::Rtabmap::getPathCurrentIndex</a></div><div class="ttdeci">unsigned int getPathCurrentIndex() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00813">Rtabmap.h:813</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a9a9321531773f37cd5d7740495ede47f"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a9a9321531773f37cd5d7740495ede47f">rtabmap::Rtabmap::setInitialPose</a></div><div class="ttdeci">void setInitialPose(const Transform &initialPose)</div><div class="ttdoc">Sets the localization prior pose used to seed the next process() call (localization mode only).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a9ac5900cbc165df1c501606f79c65ec1"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a9ac5900cbc165df1c501606f79c65ec1">rtabmap::Rtabmap::getParameters</a></div><div class="ttdeci">const ParametersMap & getParameters() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00526">Rtabmap.h:526</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a9bd263bbcdbc6f41119f8532131db974"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a9bd263bbcdbc6f41119f8532131db974">rtabmap::Rtabmap::getNodesInRadius</a></div><div class="ttdeci">std::map< int, Transform > getNodesInRadius(int nodeId, float radius, int k=0, std::map< int, float > *distsSqr=0)</div><div class="ttdoc">Returns optimized poses within a metric radius of node nodeId.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_aad648f09bb04b193907528987ccda413"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#aad648f09bb04b193907528987ccda413">rtabmap::Rtabmap::adjustLikelihood</a></div><div class="ttdeci">void adjustLikelihood(std::map< int, float > &likelihood) const</div><div class="ttdoc">Applies the standard RTAB-Map likelihood adjustment.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ab04bd616db9107a705faf5b3395a73d3"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3">rtabmap::Rtabmap::rejectLastLoopClosure</a></div><div class="ttdeci">void rejectLastLoopClosure()</div><div class="ttdoc">Removes the loop-closure link added at the last process() iteration.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ab1044f290653749990018ca5722f00c7"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ab1044f290653749990018ca5722f00c7">rtabmap::Rtabmap::globalBundleAdjustment</a></div><div class="ttdeci">bool globalBundleAdjustment(int optimizerType=1, bool rematchFeatures=true, int iterations=0, float pixelVariance=0.0f)</div><div class="ttdoc">Runs a global bundle adjustment over the optimized graph.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ab11a50751ab17717f567934e7cb2c450"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450">rtabmap::Rtabmap::getHighestHypothesisId</a></div><div class="ttdeci">int getHighestHypothesisId() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00305">Rtabmap.h:305</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ab44f1bca06eec4beb8dfebeed9ed5ce8"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ab44f1bca06eec4beb8dfebeed9ed5ce8">rtabmap::Rtabmap::getTotalMemSize</a></div><div class="ttdeci">int getTotalMemSize() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ab797f7f5bb73a507ba4d4672cd5476df"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ab797f7f5bb73a507ba4d4672cd5476df">rtabmap::Rtabmap::computePath</a></div><div class="ttdeci">bool computePath(int targetNode, bool global)</div><div class="ttdoc">Plans a path from the current location to node targetNode.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ac430e0adb75dc4aec3b7ba77053aabd0"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ac430e0adb75dc4aec3b7ba77053aabd0">rtabmap::Rtabmap::getPose</a></div><div class="ttdeci">Transform getPose(int locationId) const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ac7de2278aa53a315a63bec05c1f0a15f"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ac7de2278aa53a315a63bec05c1f0a15f">rtabmap::Rtabmap::cleanupLocalGrids</a></div><div class="ttdeci">int cleanupLocalGrids(const std::map< int, Transform > &mapPoses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)</div><div class="ttdoc">Filters spurious obstacles from every node's local grid using a reference 2D map.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ad0c040e54bbca27dffc46346d96c57cb"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ad0c040e54bbca27dffc46346d96c57cb">rtabmap::Rtabmap::dumpPrediction</a></div><div class="ttdeci">void dumpPrediction() const</div><div class="ttdoc">Dumps the Bayes-filter prediction matrix to a file in the working directory.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ad314edf995555480a2db1aceb7fd2ee7"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ad314edf995555480a2db1aceb7fd2ee7">rtabmap::Rtabmap::getPaths</a></div><div class="ttdeci">std::map< int, std::map< int, Transform > > getPaths(const std::map< int, Transform > &poses, const Transform &target, int maxGraphDepth=0) const</div><div class="ttdoc">Segments a set of optimized poses into paths connected by neighbor links.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ad7f085b6ae0fd3c7077c500c028fd5c3"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3">rtabmap::Rtabmap::process</a></div><div class="ttdeci">bool process(const SensorData &data, Transform odomPose, const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())</div><div class="ttdoc">Main RTAB-Map iteration: ingests one sensor frame and updates the map.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_adc87cbb6adde3027b8c20bbba25fec7b"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#adc87cbb6adde3027b8c20bbba25fec7b">rtabmap::Rtabmap::getLoopClosureValue</a></div><div class="ttdeci">float getLoopClosureValue() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00303">Rtabmap.h:303</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ae3d40ed4ee48954e70d45e0779c24a49"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ae3d40ed4ee48954e70d45e0779c24a49">rtabmap::Rtabmap::getWM</a></div><div class="ttdeci">std::list< int > getWM() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_ae617c65a0ba6f95a321b8c0c3a18b0e3"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#ae617c65a0ba6f95a321b8c0c3a18b0e3">rtabmap::Rtabmap::get3DMap</a></div><div class="ttdeci">RTABMAP_DEPRECATED void get3DMap(std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) const</div><div class="ttdoc">Deprecated: use getGraph() instead with withImages=true, withScan=true, withUserData=true and withGri...</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_aebe0bf9364ff8952d041f57c6a1c1d57"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#aebe0bf9364ff8952d041f57c6a1c1d57">rtabmap::Rtabmap::getLocalOptimizedPoses</a></div><div class="ttdeci">const std::map< int, Transform > & getLocalOptimizedPoses() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00331">Rtabmap.h:331</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_aedf5dce175ee325822ab7b7772c8d4f5"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#aedf5dce175ee325822ab7b7772c8d4f5">rtabmap::Rtabmap::getPathTransformToGoal</a></div><div class="ttdeci">const Transform & getPathTransformToGoal() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00817">Rtabmap.h:817</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_aee23115b4bd02bce5d1721418a0f7599"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#aee23115b4bd02bce5d1721418a0f7599">rtabmap::Rtabmap::deleteLastLocation</a></div><div class="ttdeci">void deleteLastLocation()</div><div class="ttdoc">Deletes the most recent (non-intermediate) location from the map.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_aeea47830776fe57c456ae6a673069ddc"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#aeea47830776fe57c456ae6a673069ddc">rtabmap::Rtabmap::getInformation</a></div><div class="ttdeci">cv::Mat getInformation(const cv::Mat &covariance) const</div><div class="ttdoc">Converts an odometry covariance into an information matrix, clipping by Memory::getOdomMaxInf() when ...</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_aef03c0d6ee1ef5646ba11be5dbe9faa5"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#aef03c0d6ee1ef5646ba11be5dbe9faa5">rtabmap::Rtabmap::addLink</a></div><div class="ttdeci">bool addLink(const Link &link)</div><div class="ttdoc">Adds an external link to the map.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_aeffdfc811a178ba2e55205b746a6ea71"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#aeffdfc811a178ba2e55205b746a6ea71">rtabmap::Rtabmap::exportPoses</a></div><div class="ttdeci">void exportPoses(const std::string &path, bool optimized, bool global, int format)</div><div class="ttdoc">Exports the current pose graph to a text file.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_af12ae46226f33adf8c4cafbe1bcf544c"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c">rtabmap::Rtabmap::resetMemory</a></div><div class="ttdeci">void resetMemory()</div><div class="ttdoc">Clears all in-memory state and resets the database.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_af1fe8ed393237bc9ffa1ea93adf0ec9b"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#af1fe8ed393237bc9ffa1ea93adf0ec9b">rtabmap::Rtabmap::labelLocation</a></div><div class="ttdeci">bool labelLocation(int id, const std::string &label)</div><div class="ttdoc">Assigns or clears a label on signature id.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_af7fa0cbd1ef027f8bb2af11364487df8"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#af7fa0cbd1ef027f8bb2af11364487df8">rtabmap::Rtabmap::getTimeThreshold</a></div><div class="ttdeci">float getTimeThreshold() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00369">Rtabmap.h:369</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_af81fe33ef45e1ad1838bc97d6a73a8be"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#af81fe33ef45e1ad1838bc97d6a73a8be">rtabmap::Rtabmap::getPathNextPoses</a></div><div class="ttdeci">std::vector< std::pair< int, Transform > > getPathNextPoses() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_afa134603fb0835b84f269e48e7ab568c"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568c">rtabmap::Rtabmap::VhStrategy</a></div><div class="ttdeci">VhStrategy</div><div class="ttdoc">Loop-closure verification strategy.</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00197">Rtabmap.h:197</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6">rtabmap::Rtabmap::kVhEpipolar</a></div><div class="ttdeci">@ kVhEpipolar</div><div class="ttdoc">Epipolar geometry verification (mostly historical, RGB-only mode).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00199">Rtabmap.h:199</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b">rtabmap::Rtabmap::kVhNone</a></div><div class="ttdeci">@ kVhNone</div><div class="ttdoc">No verification: the highest hypothesis above threshold is accepted.</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00198">Rtabmap.h:198</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_afe4aa4f9a67ba85b60c7dfda86d0131b"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#afe4aa4f9a67ba85b60c7dfda86d0131b">rtabmap::Rtabmap::getPathStatus</a></div><div class="ttdeci">int getPathStatus() const</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00776">Rtabmap.h:776</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_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>
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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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<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > 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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<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">rtabmap::graph::MaxGraphErrors</a></div><div class="ttdoc">Largest pose-graph constraint violations after optimization.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00231">Graph.h:232</a></div></div>
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