#include <Memory.h>

Public Member Functions
bool	addLink (const Link &link, bool addInDatabase=false)
int	cleanup ()
void	close (bool databaseSaved=true, bool postInitClosingEvents=false)
Transform	computeIcpTransform (int fromId, int toId, Transform guess, RegistrationInfo *info=0)
Transform	computeIcpTransformMulti (int newId, int oldId, const std::map< int, Transform > &poses, RegistrationInfo *info=0)
std::map< int, float >	computeLikelihood (const Signature *signature, const std::list< int > &ids)
Transform	computeTransform (Signature &fromS, Signature &toS, Transform guess, RegistrationInfo *info=0) const
Transform	computeTransform (int fromId, int toId, Transform guess, RegistrationInfo *info=0)
void	deleteLocation (int locationId, std::list< int > *deletedWords=0)
void	dumpDictionary (const char fileNameRef, const char fileNameDesc) const
virtual void	dumpMemory (std::string directory) const
void	dumpMemoryTree (const char *fileNameTree) const
virtual void	dumpSignatures (const char *fileNameSign, bool words3D) const
void	emptyTrash ()
std::list< int >	forget (const std::set< int > &ignoredIds=std::set< int >())
void	generateGraph (const std::string &fileName, const std::set< int > &ids=std::set< int >())
std::map< int, std::string >	getAllLabels () const
std::multimap< int, Link >	getAllLinks (bool lookInDatabase, bool ignoreNullLinks=true) const
std::set< int >	getAllSignatureIds () const
int	getDatabaseMemoryUsed () const
std::string	getDatabaseVersion () const
double	getDbSavingTime () const
const Feature2D *	getFeature2D () const
Transform	getGroundTruthPose (int signatureId, bool lookInDatabase=false) const
cv::Mat	getImageCompressed (int signatureId) const
int	getLastGlobalLoopClosureId () const
int	getLastSignatureId () const
const Signature *	getLastWorkingSignature () const
std::map< int, Link >	getLinks (int signatureId, bool lookInDatabase=false) const
std::map< int, Link >	getLoopClosureLinks (int signatureId, bool lookInDatabase=false) const
int	getMaxStMemSize () const
void	getMetricConstraints (const std::set< int > &ids, std::map< int, Transform > &poses, std::multimap< int, Link > &links, bool lookInDatabase=false)
std::map< int, Link >	getNeighborLinks (int signatureId, bool lookInDatabase=false) const
std::map< int, int >	getNeighborsId (int signatureId, int maxGraphDepth, int maxCheckedInDatabase=-1, bool incrementMarginOnLoop=false, bool ignoreLoopIds=false, bool ignoreIntermediateNodes=false, double *dbAccessTime=0) const
std::map< int, float >	getNeighborsIdRadius (int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) const
void	getNodeCalibration (int nodeId, std::vector< CameraModel > &models, StereoCameraModel &stereoModel)
SensorData	getNodeData (int nodeId, bool uncompressedData=false) const
bool	getNodeInfo (int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, bool lookInDatabase=false) const
void	getNodeWords (int nodeId, std::multimap< int, cv::KeyPoint > &words, std::multimap< int, cv::Point3f > &words3, std::multimap< int, cv::Mat > &wordsDescriptors)
Transform	getOdomPose (int signatureId, bool lookInDatabase=false) const
virtual const ParametersMap &	getParameters () const
const Signature *	getSignature (int id) const
SensorData	getSignatureDataConst (int locationId) const
int	getSignatureIdByLabel (const std::string &label, bool lookInDatabase=true) const
float	getSimilarityThreshold () const
const std::set< int > &	getStMem () const
const VWDictionary *	getVWDictionary () const
std::map< int, int >	getWeights () const
const std::map< int, double > &	getWorkingMem () const
int	incrementMapId (std::map< int, int > *reducedIds=0)
bool	init (const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)
bool	isBinDataKept () const
bool	isGraphReduced () const
bool	isIDsGenerated () const
bool	isIncremental () const
bool	isInLTM (int signatureId) const
bool	isInSTM (int signatureId) const
bool	isInWM (int signatureId) const
void	joinTrashThread ()
bool	labelSignature (int id, const std::string &label)
	Memory (const ParametersMap &parameters=ParametersMap())
bool	memoryChanged () const
virtual void	parseParameters (const ParametersMap &parameters)
std::set< int >	reactivateSignatures (const std::list< int > &ids, unsigned int maxLoaded, double &timeDbAccess)
void	removeAllVirtualLinks ()
void	removeLink (int idA, int idB)
void	removeRawData (int id, bool image=true, bool scan=true, bool userData=true)
void	removeVirtualLinks (int signatureId)
bool	setUserData (int id, const cv::Mat &data)
bool	update (const SensorData &data, Statistics *stats=0)
bool	update (const SensorData &data, const Transform &pose, const cv::Mat &covariance, Statistics *stats=0)
void	updateAge (int signatureId)
void	updateLink (int fromId, int toId, const Transform &transform, float rotVariance, float transVariance)
void	updateLink (int fromId, int toId, const Transform &transform, const cv::Mat &covariance)
virtual	~Memory ()
Static Public Attributes
static const int	kIdInvalid = 0
static const int	kIdStart = 0
static const int	kIdVirtual = -1
Protected Attributes
DBDriver *	_dbDriver
Private Member Functions
Signature *	_getSignature (int id) const
void	addSignatureToStm (Signature *signature, const cv::Mat &covariance)
void	addSignatureToWmFromLTM (Signature *signature)
void	cleanUnusedWords ()
void	clear ()
void	copyData (const Signature from, Signature to)
Signature *	createSignature (const SensorData &data, const Transform &pose, Statistics *stats=0)
void	disableWordsRef (int signatureId)
void	enableWordsRef (const std::list< int > &signatureIds)
int	getNextId ()
int	getNi (int signatureId) const
std::list< Signature * >	getRemovableSignatures (int count, const std::set< int > &ignoredIds=std::set< int >())
const std::map< int, Signature * > &	getSignatures () const
void	initCountId ()
void	moveSignatureToWMFromSTM (int id, int *reducedTo=0)
void	moveToTrash (Signature s, bool keepLinkedToGraph=true, std::list< int > deletedWords=0)
void	preUpdate ()
void	rehearsal (Signature signature, Statistics stats=0)
bool	rehearsalMerge (int oldId, int newId)
Private Attributes
bool	_badSignaturesIgnored
float	_badSignRatio
bool	_binDataKept
Feature2D *	_feature2D
bool	_generateIds
int	_idCount
int	_idMapCount
bool	_idUpdatedToNewOneRehearsal
int	_imagePostDecimation
int	_imagePreDecimation
bool	_incrementalMemory
float	_laserScanDownsampleStepSize
int	_lastGlobalLoopClosureId
Signature *	_lastSignature
bool	_linksChanged
bool	_mapLabelsAdded
int	_maxStMemSize
bool	_memoryChanged
bool	_notLinkedNodesKeptInDb
bool	_parallelized
bool	_rawDescriptorsKept
float	_recentWmRatio
bool	_reduceGraph
bool	_reextractLoopClosureFeatures
RegistrationIcp *	_registrationIcp
Registration *	_registrationPipeline
float	_rehearsalMaxAngle
float	_rehearsalMaxDistance
bool	_rehearsalWeightIgnoredWhileMoving
bool	_saveDepth16Format
std::map< int, Signature * >	_signatures
int	_signaturesAdded
float	_similarityThreshold
std::set< int >	_stMem
bool	_tfIdfLikelihoodUsed
bool	_transferSortingByWeightId
bool	_useOdometryFeatures
VWDictionary *	_vwd
std::map< int, double >	_workingMem
ParametersMap	parameters_

Detailed Description

Definition at line 59 of file Memory.h.

Constructor & Destructor Documentation

rtabmap::Memory::Memory ( const ParametersMap & parameters = ParametersMap() )

Definition at line 70 of file Memory.cpp.

rtabmap::Memory::~Memory ( ) [virtual]

Definition at line 355 of file Memory.cpp.

Member Function Documentation

Signature * rtabmap::Memory::_getSignature ( int id ) const [private]

Definition at line 827 of file Memory.cpp.

bool rtabmap::Memory::addLink	(	const Link &	link,
		bool	addInDatabase = `false`
	)

Definition at line 2321 of file Memory.cpp.

void rtabmap::Memory::addSignatureToStm	(	Signature *	signature,
		const cv::Mat &	covariance
	)		`[private]`

Definition at line 636 of file Memory.cpp.

void rtabmap::Memory::addSignatureToWmFromLTM ( Signature * signature ) [private]

Definition at line 707 of file Memory.cpp.

void rtabmap::Memory::cleanUnusedWords ( ) [private]

Definition at line 3639 of file Memory.cpp.

int rtabmap::Memory::cleanup ( )

Definition at line 1552 of file Memory.cpp.

void rtabmap::Memory::clear ( ) [private]

Definition at line 1227 of file Memory.cpp.

void rtabmap::Memory::close	(	bool	databaseSaved = `true`,
		bool	postInitClosingEvents = `false`
	)

Definition at line 304 of file Memory.cpp.

Transform rtabmap::Memory::computeIcpTransform	(	int	fromId,
		int	toId,
		Transform	guess,
		RegistrationInfo *	info = `0`
	)

Definition at line 2189 of file Memory.cpp.

Transform rtabmap::Memory::computeIcpTransformMulti	(	int	newId,
		int	oldId,
		const std::map< int, Transform > &	poses,
		RegistrationInfo *	info = `0`
	)

Definition at line 2244 of file Memory.cpp.

std::map< int, float > rtabmap::Memory::computeLikelihood	(	const Signature *	signature,
		const std::list< int > &	ids
	)

Compute the likelihood of the signature with some others in the memory. Important: Assuming that all other ids are under 'signature' id. If an error occurs, the result is empty.

Definition at line 1342 of file Memory.cpp.

Transform rtabmap::Memory::computeTransform	(	Signature &	fromS,
		Signature &	toS,
		Transform	guess,
		RegistrationInfo *	info = `0`
	)		const

Definition at line 2090 of file Memory.cpp.

Transform rtabmap::Memory::computeTransform	(	int	fromId,
		int	toId,
		Transform	guess,
		RegistrationInfo *	info = `0`
	)

Definition at line 2062 of file Memory.cpp.

void rtabmap::Memory::copyData	(	const Signature *	from,
		Signature *	to
	)		`[private]`

Definition at line 3053 of file Memory.cpp.

Signature * rtabmap::Memory::createSignature	(	const SensorData &	data,
		const Transform &	pose,
		Statistics *	stats = `0`
	)		`[private]`

Definition at line 3104 of file Memory.cpp.

void rtabmap::Memory::deleteLocation	(	int	locationId,
		std::list< int > *	deletedWords = `0`
	)

Definition at line 1968 of file Memory.cpp.

void rtabmap::Memory::disableWordsRef ( int signatureId ) [private]

Definition at line 3617 of file Memory.cpp.

void rtabmap::Memory::dumpDictionary	(	const char *	fileNameRef,
		const char *	fileNameDesc
	)		const

Definition at line 2505 of file Memory.cpp.

void rtabmap::Memory::dumpMemory ( std::string directory ) const [virtual]

Definition at line 2496 of file Memory.cpp.

void rtabmap::Memory::dumpMemoryTree ( const char * fileNameTree ) const

Definition at line 2561 of file Memory.cpp.

void rtabmap::Memory::dumpSignatures	(	const char *	fileNameSign,
		bool	words3D
	)		const `[virtual]`

Definition at line 2513 of file Memory.cpp.

void rtabmap::Memory::emptyTrash ( )

Definition at line 1571 of file Memory.cpp.

void rtabmap::Memory::enableWordsRef ( const std::list< int > & signatureIds ) [private]

Definition at line 3665 of file Memory.cpp.

std::list< int > rtabmap::Memory::forget ( const std::set< int > & ignoredIds = std::set<int>() )

Definition at line 1480 of file Memory.cpp.

void rtabmap::Memory::generateGraph	(	const std::string &	fileName,
		const std::set< int > &	ids = `std::set<int>()`
	)

Definition at line 3026 of file Memory.cpp.

std::map< int, std::string > rtabmap::Memory::getAllLabels ( ) const

Definition at line 1936 of file Memory.cpp.

std::multimap< int, Link > rtabmap::Memory::getAllLinks	(	bool	lookInDatabase,
		bool	ignoreNullLinks = `true`
	)		const

Definition at line 939 of file Memory.cpp.

std::set< int > rtabmap::Memory::getAllSignatureIds ( ) const

Definition at line 1213 of file Memory.cpp.

int rtabmap::Memory::getDatabaseMemoryUsed ( ) const

Definition at line 1188 of file Memory.cpp.

std::string rtabmap::Memory::getDatabaseVersion ( ) const

Definition at line 1198 of file Memory.cpp.

double rtabmap::Memory::getDbSavingTime ( ) const

Definition at line 1208 of file Memory.cpp.

const Feature2D* rtabmap::Memory::getFeature2D ( ) const [inline]

Definition at line 168 of file Memory.h.

Transform rtabmap::Memory::getGroundTruthPose	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 2841 of file Memory.cpp.

cv::Mat rtabmap::Memory::getImageCompressed ( int signatureId ) const

Definition at line 2878 of file Memory.cpp.

int rtabmap::Memory::getLastGlobalLoopClosureId ( ) const [inline]

Definition at line 167 of file Memory.h.

int rtabmap::Memory::getLastSignatureId ( ) const

Definition at line 1862 of file Memory.cpp.

const Signature * rtabmap::Memory::getLastWorkingSignature ( ) const

Definition at line 1867 of file Memory.cpp.

std::map< int, Link > rtabmap::Memory::getLinks	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 918 of file Memory.cpp.

std::map< int, Link > rtabmap::Memory::getLoopClosureLinks	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 879 of file Memory.cpp.

int rtabmap::Memory::getMaxStMemSize ( ) const [inline]

Definition at line 119 of file Memory.h.

void rtabmap::Memory::getMetricConstraints	(	const std::set< int > &	ids,
		std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	links,
		bool	lookInDatabase = `false`
	)

Definition at line 3823 of file Memory.cpp.

std::map< int, Link > rtabmap::Memory::getNeighborLinks	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 837 of file Memory.cpp.

std::map< int, int > rtabmap::Memory::getNeighborsId	(	int	signatureId,
		int	maxGraphDepth,
		int	maxCheckedInDatabase = `-1`,
		bool	incrementMarginOnLoop = `false`,
		bool	ignoreLoopIds = `false`,
		bool	ignoreIntermediateNodes = `false`,
		double *	dbAccessTime = `0`
	)		const

Definition at line 969 of file Memory.cpp.

std::map< int, float > rtabmap::Memory::getNeighborsIdRadius	(	int	signatureId,
		float	radius,
		const std::map< int, Transform > &	optimizedPoses,
		int	maxGraphDepth
	)		const

Definition at line 1084 of file Memory.cpp.

int rtabmap::Memory::getNextId ( ) [private]

Definition at line 1151 of file Memory.cpp.

int rtabmap::Memory::getNi ( int signatureId ) const [private]

Definition at line 3037 of file Memory.cpp.

void rtabmap::Memory::getNodeCalibration	(	int	nodeId,
		std::vector< CameraModel > &	models,
		StereoCameraModel &	stereoModel
	)

Definition at line 2957 of file Memory.cpp.

SensorData rtabmap::Memory::getNodeData	(	int	nodeId,
		bool	uncompressedData = `false`
	)		const

Definition at line 2895 of file Memory.cpp.

bool rtabmap::Memory::getNodeInfo	(	int	signatureId,
		Transform &	odomPose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		Transform &	groundTruth,
		bool	lookInDatabase = `false`
	)		const

Definition at line 2851 of file Memory.cpp.

void rtabmap::Memory::getNodeWords	(	int	nodeId,
		std::multimap< int, cv::KeyPoint > &	words,
		std::multimap< int, cv::Point3f > &	words3,
		std::multimap< int, cv::Mat > &	wordsDescriptors
	)

Definition at line 2918 of file Memory.cpp.

Transform rtabmap::Memory::getOdomPose	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 2831 of file Memory.cpp.

virtual const ParametersMap& rtabmap::Memory::getParameters ( ) const [inline, virtual]

Definition at line 71 of file Memory.h.

std::list< Signature * > rtabmap::Memory::getRemovableSignatures	(	int	count,
		const std::set< int > &	ignoredIds = `std::set<int>()`
	)		`[private]`

Definition at line 1620 of file Memory.cpp.

const Signature * rtabmap::Memory::getSignature ( int id ) const

Definition at line 822 of file Memory.cpp.

SensorData rtabmap::Memory::getSignatureDataConst ( int locationId ) const

Definition at line 2975 of file Memory.cpp.

int rtabmap::Memory::getSignatureIdByLabel	(	const std::string &	label,
		bool	lookInDatabase = `true`
	)		const

Definition at line 1873 of file Memory.cpp.

const std::map<int, Signature*>& rtabmap::Memory::getSignatures ( ) const [inline, private]

Definition at line 213 of file Memory.h.

float rtabmap::Memory::getSimilarityThreshold ( ) const [inline]

Definition at line 128 of file Memory.h.

const std::set<int>& rtabmap::Memory::getStMem ( ) const [inline]

Definition at line 118 of file Memory.h.

const VWDictionary * rtabmap::Memory::getVWDictionary ( ) const

Definition at line 832 of file Memory.cpp.

std::map< int, int > rtabmap::Memory::getWeights ( ) const

Definition at line 1458 of file Memory.cpp.

const std::map<int, double>& rtabmap::Memory::getWorkingMem ( ) const [inline]

Definition at line 117 of file Memory.h.

int rtabmap::Memory::incrementMapId ( std::map< int, int > * reducedIds = 0 )

Definition at line 1156 of file Memory.cpp.

bool rtabmap::Memory::init	(	const std::string &	dbUrl,
		bool	dbOverwritten = `false`,
		const ParametersMap &	parameters = `ParametersMap()`,
		bool	postInitClosingEvents = `false`
	)