rtabmap::VWDictionary Class Reference

#include <VWDictionary.h>

List of all members.

Public Types
enum	NNStrategy {   kNNFlannNaive, kNNFlannKdTree, kNNFlannLSH, kNNBruteForce,   kNNBruteForceGPU, kNNUndef }
Public Member Functions
virtual std::list< int >	addNewWords (const cv::Mat &descriptors, int signatureId)
virtual void	addWord (VisualWord *vw)
void	addWordRef (int wordId, int signatureId)
void	clear ()
void	deleteUnusedWords ()
void	exportDictionary (const char *fileNameReferences, const char *fileNameDescriptors) const
virtual std::vector< int >	findNN (const std::list< VisualWord * > &vws) const
int	getLastIndexedWordId () const
float	getNndrRatio () const
unsigned int	getNotIndexedWordsCount () const
int	getTotalActiveReferences () const
VisualWord *	getUnusedWord (int id) const
std::vector< int >	getUnusedWordIds () const
std::vector< VisualWord * >	getUnusedWords () const
unsigned int	getUnusedWordsSize () const
const std::map< int, VisualWord * > &	getVisualWords () const
const VisualWord *	getWord (int id) const
bool	isIncremental () const
virtual void	parseParameters (const ParametersMap &parameters)
void	removeAllWordRef (int wordId, int signatureId)
void	removeWords (const std::vector< VisualWord * > &words)
void	setFixedDictionary (const std::string &dictionaryPath)
void	setIncrementalDictionary ()
void	setLastWordId (int id)
void	setNNStrategy (NNStrategy strategy)
virtual void	update ()
	VWDictionary (const ParametersMap &parameters=ParametersMap())
virtual	~VWDictionary ()
Static Public Attributes
static const int	ID_INVALID = 0
static const int	ID_START = 1
Protected Member Functions
int	getNextId ()
Protected Attributes
int	_totalActiveReferences
std::map< int, VisualWord * >	_visualWords
Private Attributes
cv::Mat	_dataTree
std::string	_dictionaryPath
cv::flann::Index *	_flannIndex
bool	_incrementalDictionary
int	_lastWordId
std::map< int,int >	_mapIndexId
bool	_newWordsComparedTogether
float	_nndrRatio
std::set< int >	_notIndexedWords
std::set< int >	_removedIndexedWords
NNStrategy	_strategy
std::map< int, VisualWord * >	_unusedWords

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Detailed Description

Definition at line 45 of file VWDictionary.h.

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Member Enumeration Documentation

enum rtabmap::VWDictionary::NNStrategy

Enumerator:

kNNFlannNaive
kNNFlannKdTree
kNNFlannLSH
kNNBruteForce
kNNBruteForceGPU
kNNUndef

Definition at line 48 of file VWDictionary.h.

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Constructor & Destructor Documentation

rtabmap::VWDictionary::VWDictionary

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 48 of file VWDictionary.cpp.

rtabmap::VWDictionary::~VWDictionary

(

)

[virtual]

Definition at line 62 of file VWDictionary.cpp.

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Member Function Documentation

std::list< int > rtabmap::VWDictionary::addNewWords	(	const cv::Mat &	descriptors,
		int	signatureId
	)		[virtual]

Definition at line 393 of file VWDictionary.cpp.

void rtabmap::VWDictionary::addWord

(

VisualWord *

vw

)

[virtual]

Definition at line 818 of file VWDictionary.cpp.

void rtabmap::VWDictionary::addWordRef	(	int	wordId,
		int	signatureId
	)

Definition at line 359 of file VWDictionary.cpp.

void rtabmap::VWDictionary::clear

(

)

Definition at line 328 of file VWDictionary.cpp.

void rtabmap::VWDictionary::deleteUnusedWords

(

)

Definition at line 878 of file VWDictionary.cpp.

void rtabmap::VWDictionary::exportDictionary	(	const char *	fileNameReferences,
		const char *	fileNameDescriptors
	)		const

Definition at line 888 of file VWDictionary.cpp.

std::vector< int > rtabmap::VWDictionary::findNN

(

const std::list< VisualWord * > &

vws

)

const [virtual]

Definition at line 622 of file VWDictionary.cpp.

int rtabmap::VWDictionary::getLastIndexedWordId

(

)

const

Definition at line 242 of file VWDictionary.cpp.

int rtabmap::VWDictionary::getNextId

(

)

[protected]

Definition at line 354 of file VWDictionary.cpp.

float rtabmap::VWDictionary::getNndrRatio

(

)

const [inline]

Definition at line 73 of file VWDictionary.h.

unsigned int rtabmap::VWDictionary::getNotIndexedWordsCount

(

)

const [inline]

Definition at line 74 of file VWDictionary.h.

int rtabmap::VWDictionary::getTotalActiveReferences

(

)

const [inline]

Definition at line 76 of file VWDictionary.h.

VisualWord * rtabmap::VWDictionary::getUnusedWord

(

int

id

)

const

Definition at line 840 of file VWDictionary.cpp.

std::vector< int > rtabmap::VWDictionary::getUnusedWordIds

(

)

const

Definition at line 855 of file VWDictionary.cpp.

std::vector< VisualWord * > rtabmap::VWDictionary::getUnusedWords

(

)

const

Definition at line 845 of file VWDictionary.cpp.

unsigned int rtabmap::VWDictionary::getUnusedWordsSize

(

)

const [inline]

Definition at line 87 of file VWDictionary.h.

const std::map<int, VisualWord *>& rtabmap::VWDictionary::getVisualWords

(

)

const [inline]

Definition at line 72 of file VWDictionary.h.

const VisualWord * rtabmap::VWDictionary::getWord

(

int

id

)

const

Definition at line 835 of file VWDictionary.cpp.

bool rtabmap::VWDictionary::isIncremental

(

)

const [inline]

Definition at line 78 of file VWDictionary.h.

void rtabmap::VWDictionary::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Definition at line 68 of file VWDictionary.cpp.

void rtabmap::VWDictionary::removeAllWordRef	(	int	wordId,
		int	signatureId
	)

Definition at line 379 of file VWDictionary.cpp.

void rtabmap::VWDictionary::removeWords

(

const std::vector< VisualWord * > &

words

)

Definition at line 865 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setFixedDictionary

(

const std::string &

dictionaryPath

)

Definition at line 118 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setIncrementalDictionary

(

)

Definition at line 105 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setLastWordId

(

int

id

)

[inline]

Definition at line 71 of file VWDictionary.h.

void rtabmap::VWDictionary::setNNStrategy

(

NNStrategy

strategy

)

Definition at line 219 of file VWDictionary.cpp.

void rtabmap::VWDictionary::update

(

)

[virtual]

Definition at line 254 of file VWDictionary.cpp.

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Member Data Documentation

cv::Mat rtabmap::VWDictionary::_dataTree [private]

Definition at line 105 of file VWDictionary.h.

std::string rtabmap::VWDictionary::_dictionaryPath [private]

Definition at line 101 of file VWDictionary.h.

cv::flann::Index* rtabmap::VWDictionary::_flannIndex [private]

Definition at line 104 of file VWDictionary.h.

bool rtabmap::VWDictionary::_incrementalDictionary [private]

Definition at line 99 of file VWDictionary.h.

int rtabmap::VWDictionary::_lastWordId [private]

Definition at line 103 of file VWDictionary.h.

std::map<int ,int> rtabmap::VWDictionary::_mapIndexId [private]

Definition at line 107 of file VWDictionary.h.

bool rtabmap::VWDictionary::_newWordsComparedTogether [private]

Definition at line 102 of file VWDictionary.h.

float rtabmap::VWDictionary::_nndrRatio [private]

Definition at line 100 of file VWDictionary.h.

std::set<int> rtabmap::VWDictionary::_notIndexedWords [private]

Definition at line 109 of file VWDictionary.h.

std::set<int> rtabmap::VWDictionary::_removedIndexedWords [private]

Definition at line 110 of file VWDictionary.h.

NNStrategy rtabmap::VWDictionary::_strategy [private]

Definition at line 106 of file VWDictionary.h.

int rtabmap::VWDictionary::_totalActiveReferences [protected]

Definition at line 96 of file VWDictionary.h.

std::map<int, VisualWord*> rtabmap::VWDictionary::_unusedWords [private]

Definition at line 108 of file VWDictionary.h.

std::map<int, VisualWord *> rtabmap::VWDictionary::_visualWords [protected]

Definition at line 95 of file VWDictionary.h.

const int rtabmap::VWDictionary::ID_INVALID = 0 [static]

Definition at line 50 of file VWDictionary.h.

const int rtabmap::VWDictionary::ID_START = 1 [static]

Definition at line 49 of file VWDictionary.h.

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

• VWDictionary.h
• VWDictionary.cpp