Public Member Functions | Private Attributes
rtabmap::Signature Class Reference

#include <Signature.h>

List of all members.

Public Member Functions

void addLink (const Link &link)
void addLinks (const std::list< Link > &links)
void addLinks (const std::map< int, Link > &links)
void changeLinkIds (int idFrom, int idTo)
void changeWordsRef (int oldWordId, int activeWordId)
float compareTo (const Signature &signature) const
const TransformgetGroundTruthPose () const
int getInvalidWordsCount () const
const std::string & getLabel () const
const std::map< int, Link > & getLinks () const
long getMemoryUsed (bool withSensorData=true) const
const TransformgetPose () const
cv::Mat getPoseCovariance () const
double getStamp () const
const std::vector< float > & getVelocity () const
int getWeight () const
const std::multimap< int,
cv::KeyPoint > & 
getWords () const
const std::multimap< int,
cv::Point3f > & 
getWords3 () const
const std::map< int, int > & getWordsChanged () const
const std::multimap< int,
cv::Mat > & 
getWordsDescriptors () const
bool hasLink (int idTo) const
int id () const
bool isBadSignature () const
bool isEnabled () const
bool isLinksModified () const
bool isModified () const
bool isSaved () const
int mapId () const
void removeAllWords ()
void removeLink (int idTo)
void removeLinks ()
void removeVirtualLinks ()
void removeWord (int wordId)
SensorDatasensorData ()
const SensorDatasensorData () const
void setEnabled (bool enabled)
void setGroundTruthPose (const Transform &pose)
void setLabel (const std::string &label)
void setModified (bool modified)
void setPose (const Transform &pose)
void setSaved (bool saved)
void setVelocity (float vx, float vy, float vz, float vroll, float vpitch, float vyaw)
void setWeight (int weight)
void setWords (const std::multimap< int, cv::KeyPoint > &words)
void setWords3 (const std::multimap< int, cv::Point3f > &words3)
void setWordsDescriptors (const std::multimap< int, cv::Mat > &descriptors)
 Signature ()
 Signature (int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())
 Signature (const SensorData &data)
virtual ~Signature ()

Private Attributes

bool _enabled
Transform _groundTruthPose
int _id
int _invalidWordsCount
std::string _label
std::map< int, Link_links
bool _linksModified
int _mapId
bool _modified
Transform _pose
bool _saved
SensorData _sensorData
double _stamp
std::vector< float > _velocity
int _weight
std::multimap< int, cv::KeyPoint > _words
std::multimap< int, cv::Point3f > _words3
std::map< int, int > _wordsChanged
std::multimap< int, cv::Mat > _wordsDescriptors

Detailed Description

Definition at line 48 of file Signature.h.


Constructor & Destructor Documentation

Definition at line 39 of file Signature.cpp.

rtabmap::Signature::Signature ( int  id,
int  mapId = -1,
int  weight = 0,
double  stamp = 0.0,
const std::string &  label = std::string(),
const Transform pose = Transform(),
const Transform groundTruthPose = Transform(),
const SensorData sensorData = SensorData() 
)

Definition at line 52 of file Signature.cpp.

Definition at line 82 of file Signature.cpp.

Definition at line 100 of file Signature.cpp.


Member Function Documentation

void rtabmap::Signature::addLink ( const Link link)

Definition at line 119 of file Signature.cpp.

void rtabmap::Signature::addLinks ( const std::list< Link > &  links)

Definition at line 105 of file Signature.cpp.

void rtabmap::Signature::addLinks ( const std::map< int, Link > &  links)

Definition at line 112 of file Signature.cpp.

void rtabmap::Signature::changeLinkIds ( int  idFrom,
int  idTo 
)

Definition at line 134 of file Signature.cpp.

void rtabmap::Signature::changeWordsRef ( int  oldWordId,
int  activeWordId 
)

Definition at line 197 of file Signature.cpp.

float rtabmap::Signature::compareTo ( const Signature signature) const

Must return a value between >=0 and <=1 (1 means 100% similarity).

Definition at line 180 of file Signature.cpp.

Definition at line 131 of file Signature.h.

Definition at line 109 of file Signature.h.

const std::string& rtabmap::Signature::getLabel ( ) const [inline]

Definition at line 77 of file Signature.h.

const std::map<int, Link>& rtabmap::Signature::getLinks ( ) const [inline]

Definition at line 96 of file Signature.h.

long rtabmap::Signature::getMemoryUsed ( bool  withSensorData = true) const

Definition at line 295 of file Signature.cpp.

const Transform& rtabmap::Signature::getPose ( ) const [inline]

Definition at line 129 of file Signature.h.

Definition at line 274 of file Signature.cpp.

double rtabmap::Signature::getStamp ( ) const [inline]

Definition at line 79 of file Signature.h.

const std::vector<float>& rtabmap::Signature::getVelocity ( ) const [inline]

Definition at line 132 of file Signature.h.

int rtabmap::Signature::getWeight ( ) const [inline]

Definition at line 74 of file Signature.h.

const std::multimap<int, cv::KeyPoint>& rtabmap::Signature::getWords ( ) const [inline]

Definition at line 108 of file Signature.h.

const std::multimap<int, cv::Point3f>& rtabmap::Signature::getWords3 ( ) const [inline]

Definition at line 128 of file Signature.h.

const std::map<int, int>& rtabmap::Signature::getWordsChanged ( ) const [inline]

Definition at line 110 of file Signature.h.

const std::multimap<int, cv::Mat>& rtabmap::Signature::getWordsDescriptors ( ) const [inline]

Definition at line 111 of file Signature.h.

bool rtabmap::Signature::hasLink ( int  idTo) const

Definition at line 129 of file Signature.cpp.

int rtabmap::Signature::id ( ) const [inline]

Definition at line 70 of file Signature.h.

Definition at line 246 of file Signature.cpp.

bool rtabmap::Signature::isEnabled ( ) const [inline]

Definition at line 106 of file Signature.h.

bool rtabmap::Signature::isLinksModified ( ) const [inline]

Definition at line 99 of file Signature.h.

bool rtabmap::Signature::isModified ( ) const [inline]

Definition at line 98 of file Signature.h.

bool rtabmap::Signature::isSaved ( ) const [inline]

Definition at line 97 of file Signature.h.

int rtabmap::Signature::mapId ( ) const [inline]

Definition at line 71 of file Signature.h.

Definition at line 251 of file Signature.cpp.

void rtabmap::Signature::removeLink ( int  idTo)

Definition at line 155 of file Signature.cpp.

Definition at line 148 of file Signature.cpp.

Definition at line 165 of file Signature.cpp.

void rtabmap::Signature::removeWord ( int  wordId)

Definition at line 259 of file Signature.cpp.

Definition at line 134 of file Signature.h.

const SensorData& rtabmap::Signature::sensorData ( ) const [inline]

Definition at line 135 of file Signature.h.

void rtabmap::Signature::setEnabled ( bool  enabled) [inline]

Definition at line 107 of file Signature.h.

void rtabmap::Signature::setGroundTruthPose ( const Transform pose) [inline]

Definition at line 117 of file Signature.h.

void rtabmap::Signature::setLabel ( const std::string &  label) [inline]

Definition at line 76 of file Signature.h.

void rtabmap::Signature::setModified ( bool  modified) [inline]

Definition at line 94 of file Signature.h.

void rtabmap::Signature::setPose ( const Transform pose) [inline]

Definition at line 116 of file Signature.h.

void rtabmap::Signature::setSaved ( bool  saved) [inline]

Definition at line 93 of file Signature.h.

void rtabmap::Signature::setVelocity ( float  vx,
float  vy,
float  vz,
float  vroll,
float  vpitch,
float  vyaw 
) [inline]

Definition at line 118 of file Signature.h.

void rtabmap::Signature::setWeight ( int  weight) [inline]

Definition at line 73 of file Signature.h.

void rtabmap::Signature::setWords ( const std::multimap< int, cv::KeyPoint > &  words)

Definition at line 231 of file Signature.cpp.

void rtabmap::Signature::setWords3 ( const std::multimap< int, cv::Point3f > &  words3) [inline]

Definition at line 115 of file Signature.h.

void rtabmap::Signature::setWordsDescriptors ( const std::multimap< int, cv::Mat > &  descriptors) [inline]

Definition at line 112 of file Signature.h.


Member Data Documentation

Definition at line 157 of file Signature.h.

Definition at line 161 of file Signature.h.

int rtabmap::Signature::_id [private]

Definition at line 140 of file Signature.h.

Definition at line 158 of file Signature.h.

std::string rtabmap::Signature::_label [private]

Definition at line 145 of file Signature.h.

std::map<int, Link> rtabmap::Signature::_links [private]

Definition at line 143 of file Signature.h.

Definition at line 148 of file Signature.h.

Definition at line 141 of file Signature.h.

Definition at line 147 of file Signature.h.

Definition at line 160 of file Signature.h.

Definition at line 146 of file Signature.h.

Definition at line 164 of file Signature.h.

double rtabmap::Signature::_stamp [private]

Definition at line 142 of file Signature.h.

std::vector<float> rtabmap::Signature::_velocity [private]

Definition at line 162 of file Signature.h.

Definition at line 144 of file Signature.h.

std::multimap<int, cv::KeyPoint> rtabmap::Signature::_words [private]

Definition at line 153 of file Signature.h.

std::multimap<int, cv::Point3f> rtabmap::Signature::_words3 [private]

Definition at line 154 of file Signature.h.

std::map<int, int> rtabmap::Signature::_wordsChanged [private]

Definition at line 156 of file Signature.h.

std::multimap<int, cv::Mat> rtabmap::Signature::_wordsDescriptors [private]

Definition at line 155 of file Signature.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:42