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<a href="#pub-methods">Public Member Functions</a> |
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<div class="headertitle"><div class="title">rtabmap::VisualWord Class Reference</div></div>
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<p>Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
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<a href="classrtabmap_1_1VisualWord.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>></code></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a64ce7c97214265e24e00e3888b85f967" id="r_a64ce7c97214265e24e00e3888b85f967"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a64ce7c97214265e24e00e3888b85f967">VisualWord</a> (int <a class="el" href="classrtabmap_1_1VisualWord.html#a988fd37d739297c9b04c7dc156de3c66">id</a>, const cv::Mat &descriptor, int signatureId=0)</td></tr>
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<tr class="memdesc:a64ce7c97214265e24e00e3888b85f967"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="separator:a64ce7c97214265e24e00e3888b85f967"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:adc2dc719d2e6ed06ff92a2370d9955b2" id="r_adc2dc719d2e6ed06ff92a2370d9955b2"><td class="memItemLeft" align="right" valign="top"><a id="adc2dc719d2e6ed06ff92a2370d9955b2" name="adc2dc719d2e6ed06ff92a2370d9955b2"></a>
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 </td><td class="memItemRight" valign="bottom"><b>~VisualWord</b> ()</td></tr>
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<tr class="memdesc:adc2dc719d2e6ed06ff92a2370d9955b2"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="separator:adc2dc719d2e6ed06ff92a2370d9955b2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5826c6a57f9115e6766bb60e2628fe30" id="r_a5826c6a57f9115e6766bb60e2628fe30"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a5826c6a57f9115e6766bb60e2628fe30">addRef</a> (int signatureId)</td></tr>
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<tr class="memdesc:a5826c6a57f9115e6766bb60e2628fe30"><td class="mdescLeft"> </td><td class="mdescRight">Adds a reference to this word for the given signature ID. <br /></td></tr>
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<tr class="separator:a5826c6a57f9115e6766bb60e2628fe30"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a63364292bdd9921668187b16c2e0457e" id="r_a63364292bdd9921668187b16c2e0457e"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a63364292bdd9921668187b16c2e0457e">removeAllRef</a> (int signatureId)</td></tr>
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<tr class="memdesc:a63364292bdd9921668187b16c2e0457e"><td class="mdescLeft"> </td><td class="mdescRight">Removes all references to this word for the given signature ID. <br /></td></tr>
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<tr class="separator:a63364292bdd9921668187b16c2e0457e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad23c14c1c81848fb42573fd5ceac3a42" id="r_ad23c14c1c81848fb42573fd5ceac3a42"><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#ad23c14c1c81848fb42573fd5ceac3a42">getMemoryUsed</a> () const</td></tr>
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<tr class="memdesc:ad23c14c1c81848fb42573fd5ceac3a42"><td class="mdescLeft"> </td><td class="mdescRight">Estimates the memory used by this visual word in bytes. <br /></td></tr>
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<tr class="separator:ad23c14c1c81848fb42573fd5ceac3a42"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2eaf9703feb310a1038fcd6c8341a1d3" id="r_a2eaf9703feb310a1038fcd6c8341a1d3"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a2eaf9703feb310a1038fcd6c8341a1d3">getTotalReferences</a> () const</td></tr>
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<tr class="memdesc:a2eaf9703feb310a1038fcd6c8341a1d3"><td class="mdescLeft"> </td><td class="mdescRight">Returns the total number of references (across all signatures). <br /></td></tr>
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<tr class="separator:a2eaf9703feb310a1038fcd6c8341a1d3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a988fd37d739297c9b04c7dc156de3c66" id="r_a988fd37d739297c9b04c7dc156de3c66"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a988fd37d739297c9b04c7dc156de3c66">id</a> () const</td></tr>
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<tr class="memdesc:a988fd37d739297c9b04c7dc156de3c66"><td class="mdescLeft"> </td><td class="mdescRight">Returns the ID of this visual word. <br /></td></tr>
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<tr class="separator:a988fd37d739297c9b04c7dc156de3c66"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2d20ce6234dc211335a926759e111bbb" id="r_a2d20ce6234dc211335a926759e111bbb"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a2d20ce6234dc211335a926759e111bbb">getDescriptor</a> () const</td></tr>
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<tr class="memdesc:a2d20ce6234dc211335a926759e111bbb"><td class="mdescLeft"> </td><td class="mdescRight">Returns the feature descriptor of this word. <br /></td></tr>
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<tr class="separator:a2d20ce6234dc211335a926759e111bbb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aef73a60eccd61a917f27bf277366a5bc" id="r_aef73a60eccd61a917f27bf277366a5bc"><td class="memItemLeft" align="right" valign="top">const std::map< int, int > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#aef73a60eccd61a917f27bf277366a5bc">getReferences</a> () const</td></tr>
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<tr class="memdesc:aef73a60eccd61a917f27bf277366a5bc"><td class="mdescLeft"> </td><td class="mdescRight">Returns the references of this word. <br /></td></tr>
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<tr class="separator:aef73a60eccd61a917f27bf277366a5bc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4a4d316a18741c30c8d2d5db50f3c4e7" id="r_a4a4d316a18741c30c8d2d5db50f3c4e7"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a4a4d316a18741c30c8d2d5db50f3c4e7">isSaved</a> () const</td></tr>
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<tr class="memdesc:a4a4d316a18741c30c8d2d5db50f3c4e7"><td class="mdescLeft"> </td><td class="mdescRight">Checks if the word has been saved to the database. <br /></td></tr>
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<tr class="separator:a4a4d316a18741c30c8d2d5db50f3c4e7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a58f7ff50ca24f1586bf3fdf5999d6184" id="r_a58f7ff50ca24f1586bf3fdf5999d6184"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html#a58f7ff50ca24f1586bf3fdf5999d6184">setSaved</a> (bool saved)</td></tr>
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<tr class="memdesc:a58f7ff50ca24f1586bf3fdf5999d6184"><td class="mdescLeft"> </td><td class="mdescRight">Sets the saved flag for the word. <br /></td></tr>
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<tr class="separator:a58f7ff50ca24f1586bf3fdf5999d6184"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model. </p>
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<p>A <a class="el" href="classrtabmap_1_1VisualWord.html" title="Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.">VisualWord</a> holds a unique identifier, its descriptor (usually a feature vector from an image), and a record of where (in which signatures/images) it was observed. This is a key component in loop closure detection and visual place recognition in RTAB-Map.</p>
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<p>The word keeps track of references (signature IDs) where it appears, and how many times it was observed in each signature. It also tracks whether the word has been saved to a database. </p>
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<p class="definition">Definition at line <a class="el" href="VisualWord_8h_source.html#l00049">49</a> of file <a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="a64ce7c97214265e24e00e3888b85f967" name="a64ce7c97214265e24e00e3888b85f967"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a64ce7c97214265e24e00e3888b85f967">◆ </a></span>VisualWord()</h2>
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<td class="memname">rtabmap::VisualWord::VisualWord </td>
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<td>(</td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>id</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const cv::Mat & </td>
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<td class="paramname"><em>descriptor</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>signatureId</em> = <code>0</code> </td>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Constructor. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">id</td><td>Unique ID of the visual word. </td></tr>
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<tr><td class="paramname">descriptor</td><td>The descriptor associated with the word (e.g., <a class="el" href="classrtabmap_1_1ORB.html" title="ORB detector and descriptor (optional GPU).">ORB</a>, <a class="el" href="classrtabmap_1_1SIFT.html" title="SIFT detector and descriptor (optional GPU / CudaSift).">SIFT</a>). </td></tr>
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<tr><td class="paramname">signatureId</td><td>Optional signature ID where the word is first observed. </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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</div>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a5826c6a57f9115e6766bb60e2628fe30" name="a5826c6a57f9115e6766bb60e2628fe30"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5826c6a57f9115e6766bb60e2628fe30">◆ </a></span>addRef()</h2>
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<td class="memname">void rtabmap::VisualWord::addRef </td>
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<td>(</td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>signatureId</em></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Adds a reference to this word for the given signature ID. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">signatureId</td><td>ID of the signature in which this word is observed. </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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<a id="a63364292bdd9921668187b16c2e0457e" name="a63364292bdd9921668187b16c2e0457e"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a63364292bdd9921668187b16c2e0457e">◆ </a></span>removeAllRef()</h2>
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<td class="memname">int rtabmap::VisualWord::removeAllRef </td>
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<td>(</td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>signatureId</em></td><td>)</td>
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<td></td>
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<p>Removes all references to this word for the given signature ID. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">signatureId</td><td>ID of the signature from which references will be removed. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Number of references removed. </dd></dl>
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<a id="ad23c14c1c81848fb42573fd5ceac3a42" name="ad23c14c1c81848fb42573fd5ceac3a42"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad23c14c1c81848fb42573fd5ceac3a42">◆ </a></span>getMemoryUsed()</h2>
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<td class="memname">unsigned long rtabmap::VisualWord::getMemoryUsed </td>
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<td>(</td>
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<td> const</td>
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<p>Estimates the memory used by this visual word in bytes. </p>
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<dl class="section return"><dt>Returns</dt><dd>Size in bytes. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2eaf9703feb310a1038fcd6c8341a1d3">◆ </a></span>getTotalReferences()</h2>
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<td class="memname">int rtabmap::VisualWord::getTotalReferences </td>
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<p>Returns the total number of references (across all signatures). </p>
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<dl class="section return"><dt>Returns</dt><dd>Number of total references. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="VisualWord_8h_source.html#l00088">88</a> of file <a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a988fd37d739297c9b04c7dc156de3c66">◆ </a></span>id()</h2>
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<p>Returns the ID of this visual word. </p>
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<dl class="section return"><dt>Returns</dt><dd>Word ID. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="VisualWord_8h_source.html#l00094">94</a> of file <a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2d20ce6234dc211335a926759e111bbb">◆ </a></span>getDescriptor()</h2>
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<p>Returns the feature descriptor of this word. </p>
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<dl class="section return"><dt>Returns</dt><dd>The OpenCV matrix descriptor. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="VisualWord_8h_source.html#l00100">100</a> of file <a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aef73a60eccd61a917f27bf277366a5bc">◆ </a></span>getReferences()</h2>
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<p>Returns the references of this word. </p>
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<dl class="section return"><dt>Returns</dt><dd>A map of (signature ID, occurrence count). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="VisualWord_8h_source.html#l00106">106</a> of file <a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4a4d316a18741c30c8d2d5db50f3c4e7">◆ </a></span>isSaved()</h2>
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<p>Checks if the word has been saved to the database. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if saved, false otherwise. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="VisualWord_8h_source.html#l00112">112</a> of file <a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>.</p>
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<p>Sets the saved flag for the word. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<p class="definition">Definition at line <a class="el" href="VisualWord_8h_source.html#l00118">118</a> of file <a class="el" href="VisualWord_8h_source.html">VisualWord.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="VisualWord_8h_source.html">VisualWord.h</a></li>
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