rtabmap::Rtabmap Class Reference

#include <Rtabmap.h>

List of all members.

Public Types
enum	VhStrategy { kVhNone, kVhEpipolar, kVhUndef }
Public Member Functions
void	adjustLikelihood (std::map< int, float > &likelihood) const
void	clearPath ()
void	close ()
bool	computePath (int targetNode, bool global)
bool	computePath (const Transform &targetPose, bool global)
void	dumpData () const
void	dumpPrediction () const
void	generateDOTGraph (const std::string &path, int id=0, int margin=5)
void	generateTOROGraph (const std::string &path, bool optimized, bool global)
void	get3DMap (std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, std::map< int, int > &mapIds, std::map< int, double > &stamps, std::map< int, std::string > &labels, std::map< int, std::vector< unsigned char > > &userDatas, bool optimized, bool global) const
std::map< int, Transform >	getForwardWMPoses (int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const
float	getGoalReachedRadius () const
void	getGraph (std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, std::map< int, int > &mapIds, std::map< int, double > &stamps, std::map< int, std::string > &labels, std::map< int, std::vector< unsigned char > > &userDatas, bool optimized, bool global)
int	getHighestHypothesisId () const
float	getHighestHypothesisValue () const
int	getLastLocationId () const
double	getLastProcessTime () const
const std::map< int, Transform > &	getLocalOptimizedPoses () const
float	getLocalRadius () const
int	getLoopClosureId () const
float	getLoopClosureValue () const
Transform	getMapCorrection () const
const Memory *	getMemory () const
const std::vector< std::pair < int, Transform > > &	getPath () const
int	getPathCurrentGoalId () const
std::vector< int >	getPathNextNodes () const
std::vector< std::pair< int, Transform > >	getPathNextPoses () const
std::list< std::map< int, Transform > >	getPaths (std::map< int, Transform > poses) const
const Transform &	getPathTransformToGoal () const
Transform	getPose (int locationId) const
const Statistics &	getStatistics () const
std::set< int >	getSTM () const
int	getSTMSize () const
float	getTimeThreshold () const
int	getTotalMemSize () const
std::map< int, int >	getWeights () const
std::list< int >	getWM () const
int	getWMSize () const
std::multimap< int, cv::KeyPoint >	getWords (int locationId) const
const std::string &	getWorkingDir () const
void	init (const ParametersMap &parameters, const std::string &databasePath="")
void	init (const std::string &configFile="", const std::string &databasePath="")
bool	isIDsGenerated () const
bool	isInSTM (int locationId) const
bool	labelLocation (int id, const std::string &label)
void	parseParameters (const ParametersMap &parameters)
bool	process (const cv::Mat &image, int id=0)
bool	process (const SensorData &data)
void	rejectLoopClosure (int oldId, int newId)
void	resetMemory ()
	Rtabmap ()
std::pair< int, float >	selectHypothesis (const std::map< int, float > &posterior, const std::map< int, float > &likelihood) const
void	setTimeThreshold (float maxTimeAllowed)
bool	setUserData (int id, const std::vector< unsigned char > &data)
void	setWorkingDirectory (std::string path)
int	triggerNewMap ()
virtual	~Rtabmap ()
Static Public Member Functions
static std::string	getVersion ()
static void	readParameters (const std::string &configFile, ParametersMap &parameters)
static void	writeParameters (const std::string &configFile, const ParametersMap &parameters)
Private Member Functions
bool	computePath (int targetNode, std::map< int, Transform > nodes, const std::multimap< int, rtabmap::Link > &constraints)
void	flushStatisticLogs ()
void	optimizeCurrentMap (int id, bool lookInDatabase, std::map< int, Transform > &optimizedPoses, std::multimap< int, Link > *constraints=0) const
std::map< int, Transform >	optimizeGraph (int fromId, const std::set< int > &ids, bool lookInDatabase, std::multimap< int, Link > *constraints=0) const
void	setupLogFiles (bool overwrite=false)
void	updateGoalIndex ()
Private Attributes
BayesFilter *	_bayesFilter
std::list< std::string >	_bufferedLogsF
std::list< std::string >	_bufferedLogsI
std::multimap< int, Link >	_constraints
std::string	_databasePath
EpipolarGeometry *	_epipolarGeometry
FILE *	_foutFloat
FILE *	_foutInt
int	_globalLoopClosureIcpType
float	_goalReachedRadius
bool	_goalsSavedInUserData
graph::Optimizer *	_graphOptimizer
std::pair< int, float >	_highestHypothesis
Transform	_lastLocalizationPose
double	_lastProcessTime
int	_localDetectMaxGraphDepth
float	_localImmunizationRatio
bool	_localLoopClosureDetectionSpace
bool	_localLoopClosureDetectionTime
float	_localPathFilteringRadius
bool	_localPathOdomPosesUsed
float	_localRadius
std::pair< int, float >	_loopClosureHypothesis
float	_loopRatio
float	_loopThr
Transform	_mapCorrection
Transform	_mapTransform
unsigned int	_maxLocalRetrieved
unsigned int	_maxMemoryAllowed
unsigned int	_maxRetrieved
float	_maxTimeAllowed
Memory *	_memory
ParametersMap	_modifiedParameters
float	_newMapOdomChangeDistance
std::map< int, Transform >	_optimizedPoses
bool	_optimizeFromGraphEnd
std::vector< std::pair< int, Transform > >	_path
unsigned int	_pathCurrentIndex
unsigned int	_pathGoalIndex
Transform	_pathTransformToGoal
bool	_planVirtualLinks
bool	_poseScanMatching
bool	_publishLastSignature
bool	_publishLikelihood
bool	_publishPdf
bool	_publishStats
int	_reextractFeatureType
bool	_reextractLoopClosureFeatures
int	_reextractMaxWords
float	_reextractNNDR
int	_reextractNNType
float	_rgbdAngularUpdate
float	_rgbdLinearUpdate
bool	_rgbdSlamMode
bool	_startNewMapOnLoopClosure
bool	_statisticLogged
bool	_statisticLoggedHeaders
bool	_statisticLogsBufferedInRAM
std::string	_wDir
Statistics	statistics_

---

Detailed Description

Definition at line 54 of file Rtabmap.h.

---

Member Enumeration Documentation

enum rtabmap::Rtabmap::VhStrategy

Enumerator:

kVhNone
kVhEpipolar
kVhUndef

Definition at line 57 of file Rtabmap.h.

---

Constructor & Destructor Documentation

rtabmap::Rtabmap::Rtabmap

(

)

Definition at line 76 of file Rtabmap.cpp.

rtabmap::Rtabmap::~Rtabmap

(

)

[virtual]

Definition at line 132 of file Rtabmap.cpp.

---

Member Function Documentation

void rtabmap::Rtabmap::adjustLikelihood

(

std::map< int, float > &

likelihood

)

const

Definition at line 2620 of file Rtabmap.cpp.

void rtabmap::Rtabmap::clearPath

(

)

Definition at line 2859 of file Rtabmap.cpp.

void rtabmap::Rtabmap::close

(

)

Definition at line 309 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		bool	global
	)

Definition at line 2983 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	const Transform &	targetPose,
		bool	global
	)

Definition at line 3012 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		std::map< int, Transform >	nodes,
		const std::multimap< int, rtabmap::Link > &	constraints
	)		[private]

Definition at line 2871 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpData

(

)

const

Definition at line 2399 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpPrediction

(

)

const

Definition at line 2691 of file Rtabmap.cpp.

void rtabmap::Rtabmap::flushStatisticLogs

(

)

[private]

Definition at line 235 of file Rtabmap.cpp.

void rtabmap::Rtabmap::generateDOTGraph	(	const std::string &	path,
		int	id = 0,
		int	margin = 5
	)

Definition at line 681 of file Rtabmap.cpp.

void rtabmap::Rtabmap::generateTOROGraph	(	const std::string &	path,
		bool	optimized,
		bool	global
	)

Definition at line 713 of file Rtabmap.cpp.

void rtabmap::Rtabmap::get3DMap	(	std::map< int, Signature > &	signatures,
		std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	constraints,
		std::map< int, int > &	mapIds,
		std::map< int, double > &	stamps,
		std::map< int, std::string > &	labels,
		std::map< int, std::vector< unsigned char > > &	userDatas,
		bool	optimized,
		bool	global
	)		const

Definition at line 2724 of file Rtabmap.cpp.

std::map< int, Transform > rtabmap::Rtabmap::getForwardWMPoses	(	int	fromId,
		int	maxNearestNeighbors,
		float	radius,
		int	maxDiffID
	)		const

Definition at line 2410 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getGoalReachedRadius

(

)

const [inline]

Definition at line 98 of file Rtabmap.h.

void rtabmap::Rtabmap::getGraph	(	std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	constraints,
		std::map< int, int > &	mapIds,
		std::map< int, double > &	stamps,
		std::map< int, std::string > &	labels,
		std::map< int, std::vector< unsigned char > > &	userDatas,
		bool	optimized,
		bool	global
	)

Definition at line 2803 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getHighestHypothesisId

(

)

const [inline]

Definition at line 79 of file Rtabmap.h.

float rtabmap::Rtabmap::getHighestHypothesisValue

(

)

const [inline]

Definition at line 80 of file Rtabmap.h.

int rtabmap::Rtabmap::getLastLocationId

(

)

const

Definition at line 489 of file Rtabmap.cpp.

double rtabmap::Rtabmap::getLastProcessTime

(

)

const [inline]

Definition at line 88 of file Rtabmap.h.

const std::map<int, Transform>& rtabmap::Rtabmap::getLocalOptimizedPoses

(

)

const [inline]

Definition at line 94 of file Rtabmap.h.

float rtabmap::Rtabmap::getLocalRadius

(

)

const [inline]

Definition at line 99 of file Rtabmap.h.

int rtabmap::Rtabmap::getLoopClosureId

(

)

const [inline]

Definition at line 77 of file Rtabmap.h.

float rtabmap::Rtabmap::getLoopClosureValue

(

)

const [inline]

Definition at line 78 of file Rtabmap.h.

Transform rtabmap::Rtabmap::getMapCorrection

(

)

const [inline]

Definition at line 96 of file Rtabmap.h.

const Memory* rtabmap::Rtabmap::getMemory

(

)

const [inline]

Definition at line 97 of file Rtabmap.h.

const std::vector<std::pair<int, Transform> >& rtabmap::Rtabmap::getPath

(

)

const [inline]

Definition at line 135 of file Rtabmap.h.

int rtabmap::Rtabmap::getPathCurrentGoalId

(

)

const

Definition at line 3114 of file Rtabmap.cpp.

std::vector< int > rtabmap::Rtabmap::getPathNextNodes

(

)

const

Definition at line 3089 of file Rtabmap.cpp.

std::vector< std::pair< int, Transform > > rtabmap::Rtabmap::getPathNextPoses

(

)

const

Definition at line 3064 of file Rtabmap.cpp.

std::list< std::map< int, Transform > > rtabmap::Rtabmap::getPaths

(

std::map< int, Transform >

poses

)

const

Definition at line 2527 of file Rtabmap.cpp.

const Transform& rtabmap::Rtabmap::getPathTransformToGoal

(

)

const [inline]

Definition at line 139 of file Rtabmap.h.

Transform rtabmap::Rtabmap::getPose

(

int

locationId

)

const

Definition at line 615 of file Rtabmap.cpp.

const Statistics & rtabmap::Rtabmap::getStatistics

(

)

const

Definition at line 592 of file Rtabmap.cpp.

std::set< int > rtabmap::Rtabmap::getSTM

(

)

const

Definition at line 530 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getSTMSize

(

)

const

Definition at line 539 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getTimeThreshold

(

)

const [inline]

Definition at line 101 of file Rtabmap.h.

int rtabmap::Rtabmap::getTotalMemSize

(

)

const

Definition at line 548 of file Rtabmap.cpp.

std::string rtabmap::Rtabmap::getVersion

(

)

[static]

Definition at line 137 of file Rtabmap.cpp.

std::map< int, int > rtabmap::Rtabmap::getWeights

(

)

const

Definition at line 519 of file Rtabmap.cpp.

std::list< int > rtabmap::Rtabmap::getWM

(

)

const

Definition at line 499 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getWMSize

(

)

const

Definition at line 510 of file Rtabmap.cpp.

std::multimap< int, cv::KeyPoint > rtabmap::Rtabmap::getWords

(

int

locationId

)

const

Definition at line 561 of file Rtabmap.cpp.

const std::string& rtabmap::Rtabmap::getWorkingDir

(

)

const [inline]

Definition at line 76 of file Rtabmap.h.

void rtabmap::Rtabmap::init	(	const ParametersMap &	parameters,
		const std::string &	databasePath = ""
	)

Definition at line 257 of file Rtabmap.cpp.

void rtabmap::Rtabmap::init	(	const std::string &	configFile = "",
		const std::string &	databasePath = ""
	)

Definition at line 295 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isIDsGenerated

(

)

const

Definition at line 583 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isInSTM

(

int

locationId

)

const

Definition at line 574 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::labelLocation	(	int	id,
		const std::string &	label
	)

Definition at line 641 of file Rtabmap.cpp.

void rtabmap::Rtabmap::optimizeCurrentMap	(	int	id,
		bool	lookInDatabase,
		std::map< int, Transform > &	optimizedPoses,
		std::multimap< int, Link > *	constraints = 0
	)		const [private]

Definition at line 2556 of file Rtabmap.cpp.

std::map< int, Transform > rtabmap::Rtabmap::optimizeGraph	(	int	fromId,
		const std::set< int > &	ids,
		bool	lookInDatabase,
		std::multimap< int, Link > *	constraints = 0
	)		const [private]

Definition at line 2587 of file Rtabmap.cpp.

void rtabmap::Rtabmap::parseParameters

(

const ParametersMap &

parameters

)

Definition at line 359 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process	(	const cv::Mat &	image,
		int	id = 0
	)

Definition at line 2336 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process

(

const SensorData &

data

)

Definition at line 768 of file Rtabmap.cpp.

void rtabmap::Rtabmap::readParameters	(	const std::string &	configFile,
		ParametersMap &	parameters
	)		[static]

Definition at line 3271 of file Rtabmap.cpp.

void rtabmap::Rtabmap::rejectLoopClosure	(	int	oldId,
		int	newId
	)

Definition at line 2381 of file Rtabmap.cpp.

void rtabmap::Rtabmap::resetMemory

(

)

Definition at line 734 of file Rtabmap.cpp.

std::pair<int, float> rtabmap::Rtabmap::selectHypothesis	(	const std::map< int, float > &	posterior,
		const std::map< int, float > &	likelihood
	)		const

void rtabmap::Rtabmap::setTimeThreshold

(

float

maxTimeAllowed

)

Definition at line 2342 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setupLogFiles

(

bool

overwrite = false

)

[private]

Definition at line 143 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::setUserData	(	int	id,
		const std::vector< unsigned char > &	data
	)

Definition at line 661 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setWorkingDirectory

(

std::string

path

)

Definition at line 2357 of file Rtabmap.cpp.

int rtabmap::Rtabmap::triggerNewMap

(

)

Definition at line 628 of file Rtabmap.cpp.

void rtabmap::Rtabmap::updateGoalIndex

(

)

[private]

Definition at line 3124 of file Rtabmap.cpp.

void rtabmap::Rtabmap::writeParameters	(	const std::string &	configFile,
		const ParametersMap &	parameters
	)		[static]

Definition at line 3330 of file Rtabmap.cpp.

---

Member Data Documentation

BayesFilter* rtabmap::Rtabmap::_bayesFilter [private]

Definition at line 210 of file Rtabmap.h.

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsF [private]

Definition at line 218 of file Rtabmap.h.

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsI [private]

Definition at line 219 of file Rtabmap.h.

std::multimap<int, Link> rtabmap::Rtabmap::_constraints [private]

Definition at line 226 of file Rtabmap.h.

std::string rtabmap::Rtabmap::_databasePath [private]

Definition at line 191 of file Rtabmap.h.

EpipolarGeometry* rtabmap::Rtabmap::_epipolarGeometry [private]

Definition at line 209 of file Rtabmap.h.

FILE* rtabmap::Rtabmap::_foutFloat [private]

Definition at line 216 of file Rtabmap.h.

FILE* rtabmap::Rtabmap::_foutInt [private]

Definition at line 217 of file Rtabmap.h.

int rtabmap::Rtabmap::_globalLoopClosureIcpType [private]

Definition at line 182 of file Rtabmap.h.

float rtabmap::Rtabmap::_goalReachedRadius [private]

Definition at line 199 of file Rtabmap.h.

bool rtabmap::Rtabmap::_goalsSavedInUserData [private]

Definition at line 201 of file Rtabmap.h.

graph::Optimizer* rtabmap::Rtabmap::_graphOptimizer [private]

Definition at line 211 of file Rtabmap.h.

std::pair<int, float> rtabmap::Rtabmap::_highestHypothesis [private]

Definition at line 204 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_lastLocalizationPose [private]

Definition at line 229 of file Rtabmap.h.

double rtabmap::Rtabmap::_lastProcessTime [private]

Definition at line 205 of file Rtabmap.h.

int rtabmap::Rtabmap::_localDetectMaxGraphDepth [private]

Definition at line 188 of file Rtabmap.h.

float rtabmap::Rtabmap::_localImmunizationRatio [private]

Definition at line 187 of file Rtabmap.h.

bool rtabmap::Rtabmap::_localLoopClosureDetectionSpace [private]

Definition at line 185 of file Rtabmap.h.

bool rtabmap::Rtabmap::_localLoopClosureDetectionTime [private]

Definition at line 184 of file Rtabmap.h.

float rtabmap::Rtabmap::_localPathFilteringRadius [private]

Definition at line 189 of file Rtabmap.h.

bool rtabmap::Rtabmap::_localPathOdomPosesUsed [private]

Definition at line 190 of file Rtabmap.h.

float rtabmap::Rtabmap::_localRadius [private]

Definition at line 186 of file Rtabmap.h.

std::pair<int, float> rtabmap::Rtabmap::_loopClosureHypothesis [private]

Definition at line 203 of file Rtabmap.h.

float rtabmap::Rtabmap::_loopRatio [private]

Definition at line 172 of file Rtabmap.h.

float rtabmap::Rtabmap::_loopThr [private]

Definition at line 171 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_mapCorrection [private]

Definition at line 227 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_mapTransform [private]

Definition at line 228 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxLocalRetrieved [private]

Definition at line 174 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxMemoryAllowed [private]

Definition at line 170 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxRetrieved [private]

Definition at line 173 of file Rtabmap.h.

float rtabmap::Rtabmap::_maxTimeAllowed [private]

Definition at line 169 of file Rtabmap.h.

Memory* rtabmap::Rtabmap::_memory [private]

Definition at line 214 of file Rtabmap.h.

ParametersMap rtabmap::Rtabmap::_modifiedParameters [private]

Definition at line 212 of file Rtabmap.h.

float rtabmap::Rtabmap::_newMapOdomChangeDistance [private]

Definition at line 181 of file Rtabmap.h.

std::map<int, Transform> rtabmap::Rtabmap::_optimizedPoses [private]

Definition at line 225 of file Rtabmap.h.

bool rtabmap::Rtabmap::_optimizeFromGraphEnd [private]

Definition at line 192 of file Rtabmap.h.

std::vector<std::pair<int,Transform> > rtabmap::Rtabmap::_path [private]

Definition at line 232 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_pathCurrentIndex [private]

Definition at line 233 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_pathGoalIndex [private]

Definition at line 234 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_pathTransformToGoal [private]

Definition at line 235 of file Rtabmap.h.

bool rtabmap::Rtabmap::_planVirtualLinks [private]

Definition at line 200 of file Rtabmap.h.

bool rtabmap::Rtabmap::_poseScanMatching [private]

Definition at line 183 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishLastSignature [private]

Definition at line 166 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishLikelihood [private]

Definition at line 168 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishPdf [private]

Definition at line 167 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishStats [private]

Definition at line 165 of file Rtabmap.h.

int rtabmap::Rtabmap::_reextractFeatureType [private]

Definition at line 196 of file Rtabmap.h.

bool rtabmap::Rtabmap::_reextractLoopClosureFeatures [private]

Definition at line 193 of file Rtabmap.h.

int rtabmap::Rtabmap::_reextractMaxWords [private]

Definition at line 197 of file Rtabmap.h.

float rtabmap::Rtabmap::_reextractNNDR [private]

Definition at line 195 of file Rtabmap.h.

int rtabmap::Rtabmap::_reextractNNType [private]

Definition at line 194 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdAngularUpdate [private]

Definition at line 180 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdLinearUpdate [private]

Definition at line 179 of file Rtabmap.h.

bool rtabmap::Rtabmap::_rgbdSlamMode [private]

Definition at line 178 of file Rtabmap.h.

bool rtabmap::Rtabmap::_startNewMapOnLoopClosure [private]

Definition at line 198 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLogged [private]

Definition at line 176 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLoggedHeaders [private]

Definition at line 177 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLogsBufferedInRAM [private]

Definition at line 175 of file Rtabmap.h.

std::string rtabmap::Rtabmap::_wDir [private]

Definition at line 223 of file Rtabmap.h.

Statistics rtabmap::Rtabmap::statistics_ [private]

Definition at line 221 of file Rtabmap.h.

---

The documentation for this class was generated from the following files:

• Rtabmap.h
• Rtabmap.cpp