#include "rtabmap/core/Graph.h"#include <rtabmap/utilite/ULogger.h>#include <rtabmap/utilite/UStl.h>#include <rtabmap/utilite/UMath.h>#include <rtabmap/utilite/UConversion.h>#include <rtabmap/utilite/UTimer.h>#include <rtabmap/utilite/UFile.h>#include <rtabmap/core/GeodeticCoords.h>#include <rtabmap/core/Memory.h>#include <rtabmap/core/util3d_filtering.h>#include <rtabmap/core/util3d_registration.h>#include <pcl/search/kdtree.h>#include <pcl/common/eigen.h>#include <pcl/common/common.h>#include <set>#include <queue>#include <fstream>#include <rtabmap/core/OptimizerTORO.h>#include <rtabmap/core/OptimizerG2O.h>
Include dependency graph for Graph.cpp:
Go to the source code of this file.
Classes | |
| struct | rtabmap::graph::errors |
| class | rtabmap::graph::Node |
| struct | rtabmap::graph::Order |
Namespaces | |
| namespace | rtabmap |
| namespace | rtabmap::graph |
Typedefs | |
| typedef std::pair< int, float > | rtabmap::graph::Pair |
Functions | |
| void RTABMAP_EXP | rtabmap::graph::calcKittiSequenceErrors (const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err) |
| Transform RTABMAP_EXP | rtabmap::graph::calcRMSE (const std::map< int, Transform > &groundTruth, const std::map< int, Transform > &poses, float &translational_rmse, float &translational_mean, float &translational_median, float &translational_std, float &translational_min, float &translational_max, float &rotational_rmse, float &rotational_mean, float &rotational_median, float &rotational_std, float &rotational_min, float &rotational_max) |
| std::list< std::pair< int, Transform > > RTABMAP_EXP | rtabmap::graph::computePath (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, int > &links, int from, int to, bool updateNewCosts=false) |
| std::list< int > RTABMAP_EXP | rtabmap::graph::computePath (const std::multimap< int, Link > &links, int from, int to, bool updateNewCosts=false, bool useSameCostForAllLinks=false) |
| std::list< std::pair< int, Transform > > RTABMAP_EXP | rtabmap::graph::computePath (int fromId, int toId, const Memory *memory, bool lookInDatabase=true, bool updateNewCosts=false, float linearVelocity=0.0f, float angularVelocity=0.0f) |
| float RTABMAP_EXP | rtabmap::graph::computePathLength (const std::vector< std::pair< int, Transform > > &path, unsigned int fromIndex=0, unsigned int toIndex=0) |
| float RTABMAP_EXP | rtabmap::graph::computePathLength (const std::map< int, Transform > &path) |
| bool RTABMAP_EXP | rtabmap::graph::exportGPS (const std::string &filePath, const std::map< int, GPS > &gpsValues, unsigned int rgba=0xFFFFFFFF) |
| bool RTABMAP_EXP | rtabmap::graph::exportPoses (const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), bool g2oRobust=false) |
| std::multimap< int, Link > RTABMAP_EXP | rtabmap::graph::filterDuplicateLinks (const std::multimap< int, Link > &links) |
| std::multimap< int, Link > RTABMAP_EXP | rtabmap::graph::filterLinks (const std::multimap< int, Link > &links, Link::Type filteredType) |
| std::map< int, Link > RTABMAP_EXP | rtabmap::graph::filterLinks (const std::map< int, Link > &links, Link::Type filteredType) |
| std::multimap< int, Link > ::iterator RTABMAP_EXP | rtabmap::graph::findLink (std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true) |
| std::multimap< int, int > ::iterator RTABMAP_EXP | rtabmap::graph::findLink (std::multimap< int, int > &links, int from, int to, bool checkBothWays=true) |
| std::multimap< int, Link > ::const_iterator RTABMAP_EXP | rtabmap::graph::findLink (const std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true) |
| std::multimap< int, int > ::const_iterator RTABMAP_EXP | rtabmap::graph::findLink (const std::multimap< int, int > &links, int from, int to, bool checkBothWays=true) |
| int RTABMAP_EXP | rtabmap::graph::findNearestNode (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose) |
| std::vector< int > RTABMAP_EXP | rtabmap::graph::findNearestNodes (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose, int k) |
| std::map< int, Transform > RTABMAP_EXP | rtabmap::graph::frustumPosesFiltering (const std::map< int, Transform > &poses, const Transform &cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false) |
| std::map< int, float > RTABMAP_EXP | rtabmap::graph::getNodesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius) |
| std::list< std::map< int, Transform > > RTABMAP_EXP | rtabmap::graph::getPaths (std::map< int, Transform > poses, const std::multimap< int, Link > &links) |
| std::map< int, Transform > RTABMAP_EXP | rtabmap::graph::getPosesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f) |
| bool RTABMAP_EXP | rtabmap::graph::importPoses (const std::string &filePath, int format, std::map< int, Transform > &poses, std::multimap< int, Link > *constraints=0, std::map< int, double > *stamps=0) |
| int32_t | rtabmap::graph::lastFrameFromSegmentLength (std::vector< float > &dist, int32_t first_frame, float len) |
| std::multimap< int, int > RTABMAP_EXP | rtabmap::graph::radiusPosesClustering (const std::map< int, Transform > &poses, float radius, float angle) |
| std::map< int, Transform > RTABMAP_EXP | rtabmap::graph::radiusPosesFiltering (const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true) |
| void | rtabmap::graph::reduceGraph (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, std::multimap< int, int > &hyperNodes, std::multimap< int, Link > &hyperLinks) |
| float | rtabmap::graph::rotationError (const Transform &pose_error) |
| std::vector< float > | rtabmap::graph::trajectoryDistances (const std::vector< Transform > &poses) |
| float | rtabmap::graph::translationError (const Transform &pose_error) |
Variables | |
| float | rtabmap::graph::lengths [] = {100,200,300,400,500,600,700,800} |
| int32_t | rtabmap::graph::num_lengths = 8 |