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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef DBDRIVERSQLITE3_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define DBDRIVERSQLITE3_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &quot;rtabmap/core/DBDriver.h&quot;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#if CV_MAJOR_VERSION &lt; 5</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;opencv2/features2d/features2d.hpp&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;opencv2/features.hpp&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">typedef</span> <span class="keyword">struct </span>sqlite3_stmt sqlite3_stmt;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">typedef</span> <span class="keyword">struct </span>sqlite3 sqlite3;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="foldopen" id="foldopen00070" data-start="{" data-end="};">
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html"> 70</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a>: <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> {</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1"> 76</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1">DBDriverSqlite3</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1DBDriverSqlite3.html">~DBDriverSqlite3</a>();</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec"> 80</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55">isInMemory</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> getUrl().empty() || _dbInMemory;}</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137"> 90</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137">setDbInMemory</a>(<span class="keywordtype">bool</span> dbInMemory);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d"> 110</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d">setJournalMode</a>(<span class="keywordtype">int</span> journalMode);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#afc148e17cf8cc6ed4565c5519b06fc5c"> 123</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#afc148e17cf8cc6ed4565c5519b06fc5c">setCacheSize</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cacheSize);</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a187e2bbb52ae7f32a0fc79540f0f104b"> 140</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#a187e2bbb52ae7f32a0fc79540f0f104b">setSynchronous</a>(<span class="keywordtype">int</span> synchronous);</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> </div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a8f4adea749a2d30340715002056f9062"> 156</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#a8f4adea749a2d30340715002056f9062">setTempStore</a>(<span class="keywordtype">int</span> tempStore);</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> connectDatabaseQuery(<span class="keyword">const</span> std::string &amp; url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> disconnectDatabaseQuery(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string &amp; outputUrl = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isConnectedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsedQuery() <span class="keyword">const</span>; <span class="comment">// In bytes</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getDatabaseVersionQuery(std::string &amp; version) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getNodesMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLinksMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getImagesMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getGridsMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLaserScansMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getUserDataMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getWordsMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getFeaturesMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getStatisticsMemoryUsedQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastNodesSizeQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keyword">virtual</span> ParametersMap getLastParametersQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keyword">virtual</span> std::map&lt;std::string, float&gt; getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> &amp; stamp, std::vector&lt;int&gt; * wmState) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">virtual</span> std::map&lt;int, std::pair&lt;std::map&lt;std::string, float&gt;, <span class="keywordtype">double</span>&gt; &gt; getAllStatisticsQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">virtual</span> std::map&lt;int, std::vector&lt;int&gt; &gt; getAllStatisticsWmStatesQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> executeNoResultQuery(<span class="keyword">const</span> std::string &amp; sql) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getWeightQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> &amp; weight) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list&lt;Signature *&gt; &amp; signatures);</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list&lt;VisualWord *&gt; &amp; words) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list&lt;VisualWord *&gt; &amp; words, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateOccupancyGridQuery(</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keyword">const</span> cv::Point3f &amp; viewpoint) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateCalibrationQuery(</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models,</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoModels) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> </div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateDepthImageQuery(</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keyword">const</span> cv::Mat &amp; image,</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keyword">const</span> std::string &amp; format) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">void</span> updateLaserScanQuery(</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; scan) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> </div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addStatisticsQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> &amp; statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> savePreviewImageQuery(<span class="keyword">const</span> cv::Mat &amp; image) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keyword">virtual</span> cv::Mat loadPreviewImageQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedPosesQuery(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; lastlocalizationPose) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; loadOptimizedPosesQuery(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> save2DMapQuery(<span class="keyword">const</span> cv::Mat &amp; map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keyword">virtual</span> cv::Mat load2DMapQuery(<span class="keywordtype">float</span> &amp; xMin, <span class="keywordtype">float</span> &amp; yMin, <span class="keywordtype">float</span> &amp; cellSize) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedMeshQuery(</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">const</span> cv::Mat &amp; cloud,</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;std::vector&lt;RTABMAP_PCL_INDEX&gt; &gt; &gt; &amp; polygons,</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(&gt;=, 1, 8, 0)</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt; &amp; texCoords,</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span>#<span class="keywordflow">else</span></div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keyword">const</span> std::vector&lt;std::vector&lt;Eigen::Vector2f&gt; &gt; &amp; texCoords,</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span>#endif</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keyword">const</span> cv::Mat &amp; textures) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keyword">virtual</span> cv::Mat loadOptimizedMeshQuery(</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> std::vector&lt;std::vector&lt;std::vector&lt;RTABMAP_PCL_INDEX&gt; &gt; &gt; * polygons,</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(&gt;=, 1, 8, 0)</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt; * texCoords,</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span>#<span class="keywordflow">else</span></div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> std::vector&lt;std::vector&lt;Eigen::Vector2f&gt; &gt; * texCoords,</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span>#endif</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> cv::Mat * textures) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> </div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveFlannIndexQuery(<span class="keyword">const</span> std::vector&lt;unsigned char&gt; &amp; indexData) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> </div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="comment">// Load objects</span></div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadQuery(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> &amp; dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLastNodesQuery(std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadSignaturesQuery(<span class="keyword">const</span> std::list&lt;int&gt; &amp; ids, std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadWordsQuery(<span class="keyword">const</span> std::set&lt;int&gt; &amp; wordIds, std::list&lt;VisualWord *&gt; &amp; vws) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLinksQuery(<span class="keywordtype">int</span> signatureId, std::multimap&lt;int, Link&gt; &amp; links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> </div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadNodeDataQuery(std::list&lt;Signature *&gt; &amp; signatures, <span class="keywordtype">bool</span> images=<span class="keyword">true</span>, <span class="keywordtype">bool</span> scan=<span class="keyword">true</span>, <span class="keywordtype">bool</span> userData=<span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid=<span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getCalibrationQuery(<span class="keywordtype">int</span> signatureId, std::vector&lt;CameraModel&gt; &amp; models, std::vector&lt;StereoCameraModel&gt; &amp; stereoModels) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getLaserScanInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; info) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getNodeInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keywordtype">int</span> &amp; mapId, <span class="keywordtype">int</span> &amp; weight, std::string &amp; label, <span class="keywordtype">double</span> &amp; stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; groundTruthPose, std::vector&lt;float&gt; &amp; velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; sensors) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLocalFeaturesQuery(<span class="keywordtype">int</span> signatureId, std::multimap&lt;int, int&gt; &amp; words, std::vector&lt;cv::KeyPoint&gt; &amp; keypoints, std::vector&lt;cv::Point3f&gt; &amp; points, cv::Mat &amp; descriptors) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastNodeIdsQuery(std::set&lt;int&gt; &amp; ids) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllNodeIdsQuery(std::set&lt;int&gt; &amp; ids, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreBadSignatures, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllOdomPosesQuery(std::map&lt;int, Transform&gt; &amp; poses, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLinksQuery(std::multimap&lt;int, Link&gt; &amp; links, <span class="keywordtype">bool</span> ignoreNullLinks, <span class="keywordtype">bool</span> withLandmarks) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastIdQuery(<span class="keyword">const</span> std::string &amp; tableName, <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string &amp; fieldName=<span class="stringliteral">&quot;id&quot;</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getInvertedIndexNiQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> &amp; ni) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodesObservingLandmarkQuery(<span class="keywordtype">int</span> landmarkId, std::map&lt;int, Link&gt; &amp; nodes) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodeIdByLabelQuery(<span class="keyword">const</span> std::string &amp; label, <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLabelsQuery(std::map&lt;int, std::string&gt; &amp; labels) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> </div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> std::string queryStepNode() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> std::string queryStepImage() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> std::string queryStepDepth() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> std::string queryStepCalibrationUpdate() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> std::string queryStepDepthUpdate() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> std::string queryStepScanUpdate() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> std::string queryStepSensorData() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> std::string queryStepLinkUpdate() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> std::string queryStepLink() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> std::string queryStepWordsChanged() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> std::string queryStepKeypoint() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> std::string queryStepGlobalDescriptor() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> std::string queryStepOccupancyGridUpdate() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">void</span> stepNode(sqlite3_stmt * ppStmt, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * s) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keywordtype">void</span> stepImage(sqlite3_stmt * ppStmt, <span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> cv::Mat &amp; imageBytes) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordtype">void</span> stepDepth(sqlite3_stmt * ppStmt, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; sensorData) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keywordtype">void</span> stepCalibrationUpdate(sqlite3_stmt * ppStmt, <span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoModels) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keywordtype">void</span> stepDepthUpdate(sqlite3_stmt * ppStmt, <span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> cv::Mat &amp; image, <span class="keyword">const</span> std::string &amp; format) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="keywordtype">void</span> stepScanUpdate(sqlite3_stmt * ppStmt, <span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; image) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordtype">void</span> stepSensorData(sqlite3_stmt * ppStmt, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; sensorData) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keywordtype">void</span> stepLink(sqlite3_stmt * ppStmt, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keywordtype">void</span> stepWordsChanged(sqlite3_stmt * ppStmt, <span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> oldWordId, <span class="keywordtype">int</span> newWordId) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="keywordtype">void</span> stepKeypoint(sqlite3_stmt * ppStmt, <span class="keywordtype">int</span> nodeID, <span class="keywordtype">int</span> wordId, <span class="keyword">const</span> cv::KeyPoint &amp; kp, <span class="keyword">const</span> cv::Point3f &amp; pt, <span class="keyword">const</span> cv::Mat &amp; descriptor) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="keywordtype">void</span> stepGlobalDescriptor(sqlite3_stmt * ppStmt, <span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptor.html">GlobalDescriptor</a> &amp; descriptor) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keywordtype">void</span> stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keyword">const</span> cv::Point3f &amp; viewpoint) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> </div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keywordtype">void</span> loadWordsQuery(std::list&lt;Signature *&gt; &amp; signatures) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keywordtype">void</span> loadWordIdsQuery(std::list&lt;Signature *&gt; &amp; signatures) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keywordtype">void</span> loadLinksQuery(std::list&lt;Signature *&gt; &amp; signatures) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keywordtype">int</span> loadOrSaveDb(sqlite3 *pInMemory, <span class="keyword">const</span> std::string &amp; fileName, <span class="keywordtype">int</span> isSave) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> </div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a073748d5c4dac2e01966147c022ea943"> 307</a></span> sqlite3 * <a class="code hl_variable" href="classrtabmap_1_1DBDriverSqlite3.html#a073748d5c4dac2e01966147c022ea943">_ppDb</a>; </div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a0aa18124e40d2ac53e0e1b450d7399b8"> 308</a></span> std::string <a class="code hl_variable" href="classrtabmap_1_1DBDriverSqlite3.html#a0aa18124e40d2ac53e0e1b450d7399b8">_version</a>; </div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> </div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _memoryUsedEstimate;</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">bool</span> _dbInMemory;</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _cacheSize;</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">int</span> _journalMode;</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">int</span> _synchronous;</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">int</span> _tempStore;</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span>};</div>
</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> </div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span>}</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> </div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span><span class="preprocessor">#endif </span><span class="comment">/* DBDRIVERSQLITE3_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html">rtabmap::DBDriverSqlite3</a></div><div class="ttdoc">SQLite3 implementation of DBDriver for RTAB-Map map databases.</div><div class="ttdef"><b>Definition</b> <a href="DBDriverSqlite3_8h_source.html#l00070">DBDriverSqlite3.h:70</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_a0722fcddc772af1cc03a7fe8b410d137"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137">rtabmap::DBDriverSqlite3::setDbInMemory</a></div><div class="ttdeci">void setDbInMemory(bool dbInMemory)</div><div class="ttdoc">Enable or disable in-memory mode. If connected, the connection is closed and reopened with the new mo...</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_a073748d5c4dac2e01966147c022ea943"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#a073748d5c4dac2e01966147c022ea943">rtabmap::DBDriverSqlite3::_ppDb</a></div><div class="ttdeci">sqlite3 * _ppDb</div><div class="ttdoc">Open SQLite connection (null when disconnected)</div><div class="ttdef"><b>Definition</b> <a href="DBDriverSqlite3_8h_source.html#l00307">DBDriverSqlite3.h:307</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_a0aa18124e40d2ac53e0e1b450d7399b8"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#a0aa18124e40d2ac53e0e1b450d7399b8">rtabmap::DBDriverSqlite3::_version</a></div><div class="ttdeci">std::string _version</div><div class="ttdoc">Schema version read from the database.</div><div class="ttdef"><b>Definition</b> <a href="DBDriverSqlite3_8h_source.html#l00308">DBDriverSqlite3.h:308</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_a187e2bbb52ae7f32a0fc79540f0f104b"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#a187e2bbb52ae7f32a0fc79540f0f104b">rtabmap::DBDriverSqlite3::setSynchronous</a></div><div class="ttdeci">void setSynchronous(int synchronous)</div><div class="ttdoc">Set how aggressively SQLite syncs the database file to disk (PRAGMA synchronous).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_a471f26a35b093bbd5a59766735a94fd1"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1">rtabmap::DBDriverSqlite3::DBDriverSqlite3</a></div><div class="ttdeci">DBDriverSqlite3(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Construct driver with optional SQLite-specific parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_a8f4adea749a2d30340715002056f9062"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#a8f4adea749a2d30340715002056f9062">rtabmap::DBDriverSqlite3::setTempStore</a></div><div class="ttdeci">void setTempStore(int tempStore)</div><div class="ttdoc">Set where SQLite stores temporary tables and indices (PRAGMA temp_store).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_ab1933c0cad6c69c3ae788854731cdeec"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec">rtabmap::DBDriverSqlite3::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_ae3c445bedd62088bb20e76eda6cfe64d"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d">rtabmap::DBDriverSqlite3::setJournalMode</a></div><div class="ttdeci">void setJournalMode(int journalMode)</div><div class="ttdoc">Set SQLite rollback journal mode (PRAGMA journal_mode).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_af9cf8fda0fcc032efb44981d908b4e55"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55">rtabmap::DBDriverSqlite3::isInMemory</a></div><div class="ttdeci">virtual bool isInMemory() const</div><div class="ttdoc">True when the database runs in RAM instead of on disk.</div><div class="ttdef"><b>Definition</b> <a href="DBDriverSqlite3_8h_source.html#l00085">DBDriverSqlite3.h:85</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriverSqlite3_html_afc148e17cf8cc6ed4565c5519b06fc5c"><div class="ttname"><a href="classrtabmap_1_1DBDriverSqlite3.html#afc148e17cf8cc6ed4565c5519b06fc5c">rtabmap::DBDriverSqlite3::setCacheSize</a></div><div class="ttdeci">void setCacheSize(unsigned int cacheSize)</div><div class="ttdoc">Set the number of database pages kept in SQLite's page cache (PRAGMA cache_size).</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html">rtabmap::DBDriver</a></div><div class="ttdoc">Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00071">DBDriver.h:72</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GPS_html"><div class="ttname"><a href="classrtabmap_1_1GPS.html">rtabmap::GPS</a></div><div class="ttdoc">WGS84 GPS fix attached to a sensor sample or graph node.</div><div class="ttdef"><b>Definition</b> <a href="GPS_8h_source.html#l00046">GPS.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalDescriptor_html"><div class="ttname"><a href="classrtabmap_1_1GlobalDescriptor.html">rtabmap::GlobalDescriptor</a></div><div class="ttdef"><b>Definition</b> <a href="GlobalDescriptor_8h_source.html#l00035">GlobalDescriptor.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html"><div class="ttname"><a href="classrtabmap_1_1Statistics.html">rtabmap::Statistics</a></div><div class="ttdoc">Collects and manages runtime statistics for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00107">Statistics.h:108</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></div><div class="ttdoc">Manages a dictionary of visual words for visual place recognition and loop closure detection.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00065">VWDictionary.h:66</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map&lt; EnvSensor::Type, EnvSensor &gt; EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
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