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 (bool printWarningsIfNotEmpty=true)
void	deleteUnusedWords ()
void	exportDictionary (const char *fileNameReferences, const char *fileNameDescriptors) const
std::vector< int >	findNN (const std::list< VisualWord * > &vws) const
std::vector< int >	findNN (const cv::Mat &descriptors) const
unsigned int	getIndexedWordsCount () const
unsigned int	getIndexMemoryUsed () 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
bool	isIncrementalFlann () 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
FlannIndex *	_flannIndex
bool	_incrementalDictionary
bool	_incrementalFlann
int	_lastWordId
std::map< int,int >	_mapIdIndex
std::map< int,int >	_mapIndexId
bool	_newWordsComparedTogether
float	_nndrRatio
std::set< int >	_notIndexedWords
float	_rebalancingFactor
std::set< int >	_removedIndexedWords
NNStrategy	_strategy
std::map< int, VisualWord * >	_unusedWords
bool	useDistanceL1_

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Detailed Description

Definition at line 46 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 49 of file VWDictionary.h.

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Constructor & Destructor Documentation

rtabmap::VWDictionary::VWDictionary

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 63 of file VWDictionary.cpp.

rtabmap::VWDictionary::~VWDictionary

(

)

[virtual]

Definition at line 80 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 634 of file VWDictionary.cpp.

void rtabmap::VWDictionary::addWord

(

VisualWord *

vw

)

[virtual]

Definition at line 1251 of file VWDictionary.cpp.

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

Definition at line 603 of file VWDictionary.cpp.

void rtabmap::VWDictionary::clear

(

bool

printWarningsIfNotEmpty = true

)

Definition at line 561 of file VWDictionary.cpp.

void rtabmap::VWDictionary::deleteUnusedWords

(

)

Definition at line 1306 of file VWDictionary.cpp.

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

Definition at line 1316 of file VWDictionary.cpp.

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

(

const std::list< VisualWord * > &

vws

)

const

Definition at line 936 of file VWDictionary.cpp.

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

(

const cv::Mat &

descriptors

)

const

Definition at line 978 of file VWDictionary.cpp.

unsigned int rtabmap::VWDictionary::getIndexedWordsCount

(

)

const

Definition at line 338 of file VWDictionary.cpp.

unsigned int rtabmap::VWDictionary::getIndexMemoryUsed

(

)

const

Definition at line 343 of file VWDictionary.cpp.

int rtabmap::VWDictionary::getLastIndexedWordId

(

)

const

Definition at line 326 of file VWDictionary.cpp.

int rtabmap::VWDictionary::getNextId

(

)

[protected]

Definition at line 598 of file VWDictionary.cpp.

float rtabmap::VWDictionary::getNndrRatio

(

)

const [inline]

Definition at line 81 of file VWDictionary.h.

unsigned int rtabmap::VWDictionary::getNotIndexedWordsCount

(

)

const [inline]

Definition at line 82 of file VWDictionary.h.

int rtabmap::VWDictionary::getTotalActiveReferences

(

)

const [inline]

Definition at line 84 of file VWDictionary.h.

VisualWord * rtabmap::VWDictionary::getUnusedWord

(

int

id

)

const

Definition at line 1277 of file VWDictionary.cpp.

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

(

)

const

Definition at line 1287 of file VWDictionary.cpp.

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

(

)

const

Definition at line 1282 of file VWDictionary.cpp.

unsigned int rtabmap::VWDictionary::getUnusedWordsSize

(

)

const [inline]

Definition at line 98 of file VWDictionary.h.

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

(

)

const [inline]

Definition at line 80 of file VWDictionary.h.

const VisualWord * rtabmap::VWDictionary::getWord

(

int

id

)

const

Definition at line 1272 of file VWDictionary.cpp.

bool rtabmap::VWDictionary::isIncremental

(

)

const [inline]

Definition at line 88 of file VWDictionary.h.

bool rtabmap::VWDictionary::isIncrementalFlann

(

)

const [inline]

Definition at line 89 of file VWDictionary.h.

void rtabmap::VWDictionary::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Definition at line 86 of file VWDictionary.cpp.

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

Definition at line 620 of file VWDictionary.cpp.

void rtabmap::VWDictionary::removeWords

(

const std::vector< VisualWord * > &

words

)

Definition at line 1292 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setFixedDictionary

(

const std::string &

dictionaryPath

)

Definition at line 138 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setIncrementalDictionary

(

)

Definition at line 125 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setLastWordId

(

int

id

)

[inline]

Definition at line 79 of file VWDictionary.h.

void rtabmap::VWDictionary::setNNStrategy

(

NNStrategy

strategy

)

Definition at line 280 of file VWDictionary.cpp.

void rtabmap::VWDictionary::update

(

)

[virtual]

Definition at line 348 of file VWDictionary.cpp.

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Member Data Documentation

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

Definition at line 119 of file VWDictionary.h.

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

Definition at line 114 of file VWDictionary.h.

FlannIndex* rtabmap::VWDictionary::_flannIndex [private]

Definition at line 118 of file VWDictionary.h.

bool rtabmap::VWDictionary::_incrementalDictionary [private]

Definition at line 110 of file VWDictionary.h.

bool rtabmap::VWDictionary::_incrementalFlann [private]

Definition at line 111 of file VWDictionary.h.

int rtabmap::VWDictionary::_lastWordId [private]

Definition at line 116 of file VWDictionary.h.

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

Definition at line 122 of file VWDictionary.h.

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

Definition at line 121 of file VWDictionary.h.

bool rtabmap::VWDictionary::_newWordsComparedTogether [private]

Definition at line 115 of file VWDictionary.h.

float rtabmap::VWDictionary::_nndrRatio [private]

Definition at line 113 of file VWDictionary.h.

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

Definition at line 124 of file VWDictionary.h.

float rtabmap::VWDictionary::_rebalancingFactor [private]

Definition at line 112 of file VWDictionary.h.

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

Definition at line 125 of file VWDictionary.h.

NNStrategy rtabmap::VWDictionary::_strategy [private]

Definition at line 120 of file VWDictionary.h.

int rtabmap::VWDictionary::_totalActiveReferences [protected]

Definition at line 107 of file VWDictionary.h.

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

Definition at line 123 of file VWDictionary.h.

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

Definition at line 106 of file VWDictionary.h.

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

Definition at line 57 of file VWDictionary.h.

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

Definition at line 56 of file VWDictionary.h.

bool rtabmap::VWDictionary::useDistanceL1_ [private]

Definition at line 117 of file VWDictionary.h.

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

• VWDictionary.h
• VWDictionary.cpp