#include <Signature.h>

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 Transform &	getGroundTruthPose () const
const std::string &	getLabel () const
const std::map< int, Link > &	getLinks () const
const Transform &	getPose () const
cv::Mat	getPoseCovariance () const
double	getStamp () 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)
SensorData &	sensorData ()
const SensorData &	sensorData () 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	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
std::string	_label
std::map< int, Link >	_links
bool	_linksModified
int	_mapId
bool	_modified
Transform	_pose
bool	_saved
SensorData	_sensorData
double	_stamp
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

rtabmap::Signature::Signature ( )

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 51 of file Signature.cpp.

rtabmap::Signature::Signature ( const SensorData & data )

Definition at line 80 of file Signature.cpp.

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

Definition at line 97 of file Signature.cpp.

Member Function Documentation

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

Definition at line 116 of file Signature.cpp.

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

Definition at line 102 of file Signature.cpp.

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

Definition at line 109 of file Signature.cpp.

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

Definition at line 131 of file Signature.cpp.

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

Definition at line 192 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 177 of file Signature.cpp.

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

Definition at line 121 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.

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

Definition at line 119 of file Signature.h.

cv::Mat rtabmap::Signature::getPoseCovariance ( ) const

Definition at line 237 of file Signature.cpp.

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

Definition at line 79 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 118 of file Signature.h.

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

Definition at line 109 of file Signature.h.

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

Definition at line 110 of file Signature.h.

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

Definition at line 126 of file Signature.cpp.

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

Definition at line 70 of file Signature.h.

bool rtabmap::Signature::isBadSignature ( ) const

Definition at line 218 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.

void rtabmap::Signature::removeAllWords ( )

Definition at line 223 of file Signature.cpp.

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

Definition at line 152 of file Signature.cpp.

void rtabmap::Signature::removeLinks ( )

Definition at line 145 of file Signature.cpp.

void rtabmap::Signature::removeVirtualLinks ( )

Definition at line 162 of file Signature.cpp.

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

Definition at line 230 of file Signature.cpp.

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

Definition at line 123 of file Signature.h.

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

Definition at line 124 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 116 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 115 of file Signature.h.

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

Definition at line 93 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 ) [inline]

Definition at line 105 of file Signature.h.

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

Definition at line 114 of file Signature.h.

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

Definition at line 111 of file Signature.h.

Member Data Documentation

bool rtabmap::Signature::_enabled [private]

Definition at line 144 of file Signature.h.

Transform rtabmap::Signature::_groundTruthPose [private]

Definition at line 147 of file Signature.h.

int rtabmap::Signature::_id [private]

Definition at line 127 of file Signature.h.

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

Definition at line 132 of file Signature.h.

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

Definition at line 130 of file Signature.h.

bool rtabmap::Signature::_linksModified [private]

Definition at line 135 of file Signature.h.

int rtabmap::Signature::_mapId [private]

Definition at line 128 of file Signature.h.

bool rtabmap::Signature::_modified [private]

Definition at line 134 of file Signature.h.

Transform rtabmap::Signature::_pose [private]

Definition at line 146 of file Signature.h.

bool rtabmap::Signature::_saved [private]

Definition at line 133 of file Signature.h.

SensorData rtabmap::Signature::_sensorData [private]

Definition at line 149 of file Signature.h.

double rtabmap::Signature::_stamp [private]

Definition at line 129 of file Signature.h.

int rtabmap::Signature::_weight [private]

Definition at line 131 of file Signature.h.

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

Definition at line 140 of file Signature.h.

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

Definition at line 141 of file Signature.h.

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

Definition at line 143 of file Signature.h.

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

Definition at line 142 of file Signature.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation