#include <Memory.h>

Public Member Functions
bool	addLink (const Link &link, bool addInDatabase=false)

bool	allNodesInWM () const

int	cleanup ()

void	close (bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")

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, bool useKnownCorrespondencesIfPossible=false) const

Transform	computeTransform (int fromId, int toId, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false)

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 >())

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

std::multimap< int, Link >	getAllLinks (bool lookInDatabase, bool ignoreNullLinks=true, bool withLandmarks=false) const

std::set< int >	getAllSignatureIds (bool ignoreChildren=true) const

int	getDatabaseMemoryUsed () const

std::string	getDatabaseUrl () const

std::string	getDatabaseVersion () const

double	getDbSavingTime () const

const Feature2D *	getFeature2D () const

void	getGPS (int id, GPS &gps, Transform &offsetENU, bool lookInDatabase, int maxGraphDepth=0) const

Transform	getGroundTruthPose (int signatureId, bool lookInDatabase=false) const

const std::map< int, Transform > &	getGroundTruths () const

cv::Mat	getImageCompressed (int signatureId) const

const std::map< int, std::set< int > > &	getLandmarksIndex () const

const std::map< int, std::set< int > > &	getLandmarksInvertedIndex () const

int	getLastGlobalLoopClosureId () const

int	getLastSignatureId () const

const Signature *	getLastWorkingSignature () const

std::multimap< int, Link >	getLinks (int signatureId, bool lookInDatabase=false, bool withLandmarks=false) const

std::multimap< int, Link >	getLoopClosureLinks (int signatureId, bool lookInDatabase=false) const

int	getMapId (int id, bool lookInDatabase=false) const

int	getMaxStMemSize () const

unsigned long	getMemoryUsed () const

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

std::multimap< 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, bool ignoreLocalSpaceLoopIds=false, const std::set< int > &nodesSet=std::set< int >(), 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) const

SensorData	getNodeData (int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const

bool	getNodeInfo (int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors, bool lookInDatabase=false) const

std::map< int, Link >	getNodesObservingLandmark (int landmarkId, bool lookInDatabase) const

void	getNodeWordsAndGlobalDescriptors (int nodeId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &wordsKpts, std::vector< cv::Point3f > &words3, cv::Mat &wordsDescriptors, std::vector< GlobalDescriptor > &globalDescriptors) const

const std::vector< double > &	getOdomMaxInf () const

Transform	getOdomPose (int signatureId, bool lookInDatabase=false) const

virtual const ParametersMap &	getParameters () const

const Signature *	getSignature (int id) 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

bool	isLocalizationDataSaved () const

bool	isOdomGravityUsed () const

void	joinTrashThread ()

bool	labelSignature (int id, const std::string &label)

cv::Mat	load2DMap (float &xMin, float &yMin, float &cellSize) const

cv::Mat	loadOptimizedMesh (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > polygons=0, std::vector< std::vector< Eigen::Vector2f > > texCoords=0, cv::Mat *textures=0) const

std::map< int, Transform >	loadOptimizedPoses (Transform *lastlocalizationPose) const

cv::Mat	loadPreviewImage () const

	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)

void	save2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize) const

void	saveLocationData (int locationId)

void	saveOptimizedMesh (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const

void	saveOptimizedPoses (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const

void	savePreviewImage (const cv::Mat &image) const

void	saveStatistics (const Statistics &statistics, bool saveWMState)

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, const std::vector< float > &velocity=std::vector< float >(), Statistics *stats=0)

void	updateAge (int signatureId)

void	updateLink (const Link &link, bool updateInDatabase=false)

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	loadDataFromDb (bool postInitClosingEvents)

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	_allNodesInWM

bool	_badSignaturesIgnored

float	_badSignRatio

bool	_binDataKept

bool	_compressionParallelized

bool	_covOffDiagonalIgnored

bool	_createOccupancyGrid

bool	_depthAsMask

bool	_detectMarkers

Feature2D *	_feature2D

bool	_generateIds

GPS	_gpsOrigin

std::map< int, Transform >	_groundTruths

int	_idCount

int	_idMapCount

bool	_idUpdatedToNewOneRehearsal

int	_imagePostDecimation

int	_imagePreDecimation

bool	_imagesAlreadyRectified

bool	_incrementalMemory

std::map< int, std::string >	_labels

std::map< int, std::set< int > >	_landmarksIndex

std::map< int, std::set< int > >	_landmarksInvertedIndex

float	_laserScanDownsampleStepSize

int	_laserScanNormalK

float	_laserScanNormalRadius

float	_laserScanVoxelSize

int	_lastGlobalLoopClosureId

Signature *	_lastSignature

bool	_linksChanged

bool	_localBundleOnLoopClosure

bool	_localizationDataSaved

bool	_mapLabelsAdded

float	_markerAngVariance

MarkerDetector *	_markerDetector

float	_markerLinVariance

int	_maxStMemSize

bool	_memoryChanged

bool	_notLinkedNodesKeptInDb

OccupancyGrid *	_occupancy

std::vector< double >	_odomMaxInf

bool	_parallelized

bool	_rawDescriptorsKept

float	_recentWmRatio

std::vector< CameraModel >	_rectCameraModels

bool	_rectifyOnlyFeatures

StereoCameraModel	_rectStereoCameraModel

bool	_reduceGraph

bool	_reextractLoopClosureFeatures

RegistrationIcp *	_registrationIcpMulti

Registration *	_registrationPipeline

float	_rehearsalMaxAngle

float	_rehearsalMaxDistance

bool	_rehearsalWeightIgnoredWhileMoving

std::string	_rgbCompressionFormat

bool	_saveDepth16Format

bool	_saveIntermediateNodeData

std::map< int, Signature * >	_signatures

int	_signaturesAdded

float	_similarityThreshold

bool	_stereoFromMotion

std::set< int >	_stMem

bool	_tfIdfLikelihoodUsed

bool	_transferSortingByWeightId

bool	_useOdometryFeatures

bool	_useOdometryGravity

int	_visMaxFeatures

VWDictionary *	_vwd

std::map< int, double >	_workingMem

ParametersMap	parameters_

Detailed Description

Definition at line 62 of file Memory.h.

Constructor & Destructor Documentation

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

Definition at line 73 of file Memory.cpp.

rtabmap::Memory::~Memory ( )

virtual

Definition at line 517 of file Memory.cpp.

Member Function Documentation

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

private

Definition at line 1152 of file Memory.cpp.

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

Definition at line 3202 of file Memory.cpp.

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

private

Definition at line 883 of file Memory.cpp.

void rtabmap::Memory::addSignatureToWmFromLTM ( Signature * signature )

private

Definition at line 1023 of file Memory.cpp.

bool rtabmap::Memory::allNodesInWM ( ) const

inline

Definition at line 169 of file Memory.h.

void rtabmap::Memory::cleanUnusedWords ( )

private

Definition at line 5399 of file Memory.cpp.

int rtabmap::Memory::cleanup ( )

Definition at line 2007 of file Memory.cpp.

void rtabmap::Memory::clear ( )

private

Definition at line 1668 of file Memory.cpp.

void rtabmap::Memory::close	(	bool	databaseSaved = `true`,
		bool	postInitClosingEvents = `false`,
		const std::string &	ouputDatabasePath = `""`
	)

Definition at line 460 of file Memory.cpp.

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

Definition at line 3004 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 1795 of file Memory.cpp.

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

Definition at line 2705 of file Memory.cpp.

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

Definition at line 2676 of file Memory.cpp.

void rtabmap::Memory::copyData	(	const Signature *	from,
		Signature *	to
	)

private

Definition at line 4041 of file Memory.cpp.

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

private

Definition at line 4090 of file Memory.cpp.

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

Definition at line 2570 of file Memory.cpp.

void rtabmap::Memory::disableWordsRef ( int signatureId )

private

Definition at line 5377 of file Memory.cpp.

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

Definition at line 3395 of file Memory.cpp.

void rtabmap::Memory::dumpMemory ( std::string directory ) const

virtual

Definition at line 3386 of file Memory.cpp.

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

Definition at line 3455 of file Memory.cpp.

void rtabmap::Memory::dumpSignatures	(	const char *	fileNameSign,
		bool	words3D
	)		const

virtual

Definition at line 3403 of file Memory.cpp.

void rtabmap::Memory::emptyTrash ( )

Definition at line 2116 of file Memory.cpp.

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

private

Definition at line 5422 of file Memory.cpp.

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

Definition at line 1935 of file Memory.cpp.

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

Definition at line 4014 of file Memory.cpp.

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

inline

Definition at line 166 of file Memory.h.

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

Definition at line 1302 of file Memory.cpp.

std::set< int > rtabmap::Memory::getAllSignatureIds ( bool ignoreChildren = true ) const

Definition at line 1654 of file Memory.cpp.

int rtabmap::Memory::getDatabaseMemoryUsed ( ) const

Definition at line 1618 of file Memory.cpp.

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

Definition at line 1639 of file Memory.cpp.

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

Definition at line 1629 of file Memory.cpp.

double rtabmap::Memory::getDbSavingTime ( ) const

Definition at line 1649 of file Memory.cpp.

const Feature2D* rtabmap::Memory::getFeature2D ( ) const

inline

Definition at line 220 of file Memory.h.

void rtabmap::Memory::getGPS	(	int	id,
		GPS &	gps,
		Transform &	offsetENU,
		bool	lookInDatabase,
		int	maxGraphDepth = `0`
	)		const

Definition at line 3815 of file Memory.cpp.

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

Definition at line 3802 of file Memory.cpp.

const std::map<int, Transform>& rtabmap::Memory::getGroundTruths ( ) const

inline

Definition at line 186 of file Memory.h.

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

Definition at line 3896 of file Memory.cpp.

const std::map<int, std::set<int> >& rtabmap::Memory::getLandmarksIndex ( ) const

inline

Definition at line 167 of file Memory.h.

const std::map<int, std::set<int> >& rtabmap::Memory::getLandmarksInvertedIndex ( ) const

inline

Definition at line 168 of file Memory.h.

int rtabmap::Memory::getLastGlobalLoopClosureId ( ) const

inline

Definition at line 219 of file Memory.h.

int rtabmap::Memory::getLastSignatureId ( ) const

Definition at line 2449 of file Memory.cpp.

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

Definition at line 2454 of file Memory.cpp.

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

Definition at line 1243 of file Memory.cpp.

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

Definition at line 1203 of file Memory.cpp.

int rtabmap::Memory::getMapId	(	int	id,
		bool	lookInDatabase = `false`
	)		const

Definition at line 3776 of file Memory.cpp.

int rtabmap::Memory::getMaxStMemSize ( ) const

inline

Definition at line 149 of file Memory.h.

unsigned long rtabmap::Memory::getMemoryUsed ( ) const

Definition at line 3513 of file Memory.cpp.

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

Definition at line 5611 of file Memory.cpp.

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

Definition at line 1162 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`,
		bool	ignoreLocalSpaceLoopIds = `false`,
		const std::set< int > &	nodesSet = `std::set<int>()`,
		double *	dbAccessTime = `0`
	)		const

Definition at line 1344 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 1521 of file Memory.cpp.

int rtabmap::Memory::getNextId ( )

private

Definition at line 1581 of file Memory.cpp.

int rtabmap::Memory::getNi ( int signatureId ) const

private

Definition at line 4025 of file Memory.cpp.

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

Definition at line 3996 of file Memory.cpp.

SensorData rtabmap::Memory::getNodeData	(	int	locationId,
		bool	images,
		bool	scan,
		bool	userData,
		bool	occupancyGrid
	)		const

Definition at line 3913 of file Memory.cpp.

bool rtabmap::Memory::getNodeInfo	(	int	signatureId,
		Transform &	odomPose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		Transform &	groundTruth,
		std::vector< float > &	velocity,
		GPS &	gps,
		EnvSensors &	sensors,
		bool	lookInDatabase = `false`
	)		const

Definition at line 3863 of file Memory.cpp.

std::map< int, Link > rtabmap::Memory::getNodesObservingLandmark	(	int	landmarkId,
		bool	lookInDatabase
	)		const

Definition at line 2460 of file Memory.cpp.

void rtabmap::Memory::getNodeWordsAndGlobalDescriptors	(	int	nodeId,
		std::multimap< int, int > &	words,
		std::vector< cv::KeyPoint > &	wordsKpts,
		std::vector< cv::Point3f > &	words3,
		cv::Mat &	wordsDescriptors,
		std::vector< GlobalDescriptor > &	globalDescriptors
	)		const

Definition at line 3951 of file Memory.cpp.

const std::vector<double>& rtabmap::Memory::getOdomMaxInf ( ) const

inline

Definition at line 222 of file Memory.h.

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

Definition at line 3789 of file Memory.cpp.

virtual const ParametersMap& rtabmap::Memory::getParameters ( ) const

inlinevirtual

Definition at line 74 of file Memory.h.

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

private

Definition at line 2165 of file Memory.cpp.

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

Definition at line 1147 of file Memory.cpp.

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

Definition at line 2490 of file Memory.cpp.

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

inlineprivate

Definition at line 269 of file Memory.h.

float rtabmap::Memory::getSimilarityThreshold ( ) const

inline

Definition at line 159 of file Memory.h.

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

inline

Definition at line 148 of file Memory.h.

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

Definition at line 1157 of file Memory.cpp.

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

Definition at line 1913 of file Memory.cpp.

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

inline

Definition at line 147 of file Memory.h.

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

Definition at line 1586 of file Memory.cpp.

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

Definition at line 151 of file Memory.cpp.

void rtabmap::Memory::initCountId ( )

private

bool rtabmap::Memory::isBinDataKept ( ) const

inline

Definition at line 158 of file Memory.h.

bool rtabmap::Memory::isGraphReduced ( ) const

inline

Definition at line 221 of file Memory.h.

bool rtabmap::Memory::isIDsGenerated ( ) const

inline

Definition at line 218 of file Memory.h.

bool rtabmap::Memory::isIncremental ( ) const

inline

Definition at line 212 of file Memory.h.

bool rtabmap::Memory::isInLTM ( int signatureId ) const

inline

Definition at line 217 of file Memory.h.

bool rtabmap::Memory::isInSTM ( int signatureId ) const

inline

Definition at line 215 of file Memory.h.

bool rtabmap::Memory::isInWM ( int signatureId ) const

inline

Definition at line 216 of file Memory.h.

bool rtabmap::Memory::isLocalizationDataSaved ( ) const

inline

Definition at line 213 of file Memory.h.

bool rtabmap::Memory::isOdomGravityUsed ( ) const

inline

Definition at line 223 of file Memory.h.

void rtabmap::Memory::joinTrashThread ( )

Definition at line 2124 of file Memory.cpp.

bool rtabmap::Memory::labelSignature	(	int	id,
		const std::string &	label
	)

Definition at line 2513 of file Memory.cpp.

cv::Mat rtabmap::Memory::load2DMap	(	float &	xMin,
		float &	yMin,
		float &	cellSize
	)		const

Definition at line 2075 of file Memory.cpp.

void rtabmap::Memory::loadDataFromDb ( bool postInitClosingEvents )

private

Definition at line 216 of file Memory.cpp.

cv::Mat rtabmap::Memory::loadOptimizedMesh	(	std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *	polygons = `0`,
		std::vector< std::vector< Eigen::Vector2f > > *	texCoords = `0`,
		cv::Mat *	textures = `0`
	)		const

Definition at line 2100 of file Memory.cpp.

std::map< int, Transform > rtabmap::Memory::loadOptimizedPoses ( Transform * lastlocalizationPose ) const

Definition at line 2058 of file Memory.cpp.

cv::Mat rtabmap::Memory::loadPreviewImage ( ) const

Definition at line 2041 of file Memory.cpp.

bool rtabmap::Memory::memoryChanged ( ) const

inline

Definition at line 211 of file Memory.h.

void rtabmap::Memory::moveSignatureToWMFromSTM	(	int	id,
		int *	reducedTo = `0`
	)

private

Definition at line 1041 of file Memory.cpp.

void rtabmap::Memory::moveToTrash	(	Signature *	s,
		bool	keepLinkedToGraph = `true`,
		std::list< int > *	deletedWords = `0`
	)

private

If saveToDatabase=false, deleted words are filled in deletedWords.

Definition at line 2296 of file Memory.cpp.

void rtabmap::Memory::parseParameters ( const ParametersMap & parameters )

virtual

Definition at line 532 of file Memory.cpp.

void rtabmap::Memory::preUpdate ( )

private

Definition at line 745 of file Memory.cpp.

std::set< int > rtabmap::Memory::reactivateSignatures	(	const std::list< int > &	ids,
		unsigned int	maxLoaded,
		double &	timeDbAccess
	)

Definition at line 5534 of file Memory.cpp.

void rtabmap::Memory::rehearsal	(	Signature *	signature,
		Statistics *	stats = `0`
	)

private

Definition at line 3554 of file Memory.cpp.

bool rtabmap::Memory::rehearsalMerge	(	int	oldId,
		int	newId
	)

private

Definition at line 3611 of file Memory.cpp.

void rtabmap::Memory::removeAllVirtualLinks ( )

Definition at line 3347 of file Memory.cpp.

void rtabmap::Memory::removeLink	(	int	idA,
		int	idB
	)

Definition at line 2599 of file Memory.cpp.

void rtabmap::Memory::removeRawData	(	int	id,
		bool	image = `true`,
		bool	scan = `true`,
		bool	userData = `true`
	)

Definition at line 2662 of file Memory.cpp.

void rtabmap::Memory::removeVirtualLinks ( int signatureId )

Definition at line 3356 of file Memory.cpp.

void rtabmap::Memory::save2DMap	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize
	)		const

Definition at line 2067 of file Memory.cpp.

void rtabmap::Memory::saveLocationData ( int locationId )

Definition at line 2580 of file Memory.cpp.

void rtabmap::Memory::saveOptimizedMesh	(	const cv::Mat &	cloud,
		const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &	polygons = `std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >()`,
		const std::vector< std::vector< Eigen::Vector2f > > &	texCoords = `std::vector<std::vector<Eigen::Vector2f> >()`,
		const cv::Mat &	textures = `cv::Mat()`
	)		const

Definition at line 2084 of file Memory.cpp.

void rtabmap::Memory::saveOptimizedPoses	(	const std::map< int, Transform > &	optimizedPoses,
		const Transform &	lastlocalizationPose
	)		const

Definition at line 2050 of file Memory.cpp.

void rtabmap::Memory::savePreviewImage ( const cv::Mat & image ) const

Definition at line 2034 of file Memory.cpp.

void rtabmap::Memory::saveStatistics	(	const Statistics &	statistics,
		bool	saveWMState
	)

Definition at line 2026 of file Memory.cpp.

bool rtabmap::Memory::setUserData	(	int	id,
		const cv::Mat &	data
	)

Set user data. Detect automatically if raw or compressed. If raw, the data is compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed. If you have one dimension unsigned 8 bits raw data, make sure to transpose it (to have multiple rows instead of multiple columns) in order to be detected as not compressed.

Definition at line 2555 of file Memory.cpp.

bool rtabmap::Memory::update	(	const SensorData &	data,
		Statistics *	stats = `0`
	)

Definition at line 759 of file Memory.cpp.

bool rtabmap::Memory::update	(	const SensorData &	data,
		const Transform &	pose,
		const cv::Mat &	covariance,
		const std::vector< float > &	velocity = `std::vector<float>()`,
		Statistics *	stats = `0`
	)

Definition at line 766 of file Memory.cpp.

void rtabmap::Memory::updateAge ( int signatureId )

Definition at line 1609 of file Memory.cpp.

void rtabmap::Memory::updateLink	(	const Link &	link,
		bool	updateInDatabase = `false`
	)

Definition at line 3287 of file Memory.cpp.

Member Data Documentation

bool rtabmap::Memory::_allNodesInWM

private

Definition at line 338 of file Memory.h.

bool rtabmap::Memory::_badSignaturesIgnored

private

Definition at line 304 of file Memory.h.

float rtabmap::Memory::_badSignRatio

private

Definition at line 355 of file Memory.h.

bool rtabmap::Memory::_binDataKept

private

Definition at line 290 of file Memory.h.

bool rtabmap::Memory::_compressionParallelized

private

Definition at line 310 of file Memory.h.

bool rtabmap::Memory::_covOffDiagonalIgnored

private

Definition at line 326 of file Memory.h.

bool rtabmap::Memory::_createOccupancyGrid

private

Definition at line 322 of file Memory.h.

DBDriver* rtabmap::Memory::_dbDriver

protected

Definition at line 284 of file Memory.h.

bool rtabmap::Memory::_depthAsMask

private

Definition at line 306 of file Memory.h.

bool rtabmap::Memory::_detectMarkers

private

Definition at line 327 of file Memory.h.

Feature2D* rtabmap::Memory::_feature2D

private

Definition at line 354 of file Memory.h.

bool rtabmap::Memory::_generateIds

private

Definition at line 303 of file Memory.h.

GPS rtabmap::Memory::_gpsOrigin

private

Definition at line 339 of file Memory.h.

std::map<int, Transform> rtabmap::Memory::_groundTruths

private

Definition at line 347 of file Memory.h.

int rtabmap::Memory::_idCount

private

Definition at line 331 of file Memory.h.

int rtabmap::Memory::_idMapCount

private

Definition at line 332 of file Memory.h.

bool rtabmap::Memory::_idUpdatedToNewOneRehearsal

private

Definition at line 302 of file Memory.h.

int rtabmap::Memory::_imagePostDecimation

private

Definition at line 309 of file Memory.h.

int rtabmap::Memory::_imagePreDecimation

private

Definition at line 308 of file Memory.h.

bool rtabmap::Memory::_imagesAlreadyRectified

private

Definition at line 324 of file Memory.h.

bool rtabmap::Memory::_incrementalMemory

private

Definition at line 296 of file Memory.h.

std::map<int, std::string> rtabmap::Memory::_labels

private

Definition at line 348 of file Memory.h.

std::map<int, std::set<int> > rtabmap::Memory::_landmarksIndex

private

Definition at line 349 of file Memory.h.

std::map<int, std::set<int> > rtabmap::Memory::_landmarksInvertedIndex

private

Definition at line 350 of file Memory.h.

float rtabmap::Memory::_laserScanDownsampleStepSize

private

Definition at line 311 of file Memory.h.

int rtabmap::Memory::_laserScanNormalK

private

Definition at line 313 of file Memory.h.

float rtabmap::Memory::_laserScanNormalRadius

private

Definition at line 314 of file Memory.h.

float rtabmap::Memory::_laserScanVoxelSize

private

Definition at line 312 of file Memory.h.

int rtabmap::Memory::_lastGlobalLoopClosureId

private

Definition at line 334 of file Memory.h.

Signature* rtabmap::Memory::_lastSignature

private

Definition at line 333 of file Memory.h.

bool rtabmap::Memory::_linksChanged

private

Definition at line 336 of file Memory.h.

bool rtabmap::Memory::_localBundleOnLoopClosure

private

Definition at line 316 of file Memory.h.

bool rtabmap::Memory::_localizationDataSaved

private

Definition at line 297 of file Memory.h.

bool rtabmap::Memory::_mapLabelsAdded

private

Definition at line 305 of file Memory.h.

float rtabmap::Memory::_markerAngVariance

private

Definition at line 329 of file Memory.h.

MarkerDetector* rtabmap::Memory::_markerDetector

private

Definition at line 364 of file Memory.h.

float rtabmap::Memory::_markerLinVariance

private

Definition at line 328 of file Memory.h.

int rtabmap::Memory::_maxStMemSize

private

Definition at line 299 of file Memory.h.

bool rtabmap::Memory::_memoryChanged

private

Definition at line 335 of file Memory.h.

bool rtabmap::Memory::_notLinkedNodesKeptInDb

private

Definition at line 293 of file Memory.h.

OccupancyGrid* rtabmap::Memory::_occupancy

private

Definition at line 362 of file Memory.h.

std::vector<double> rtabmap::Memory::_odomMaxInf

private

Definition at line 342 of file Memory.h.

bool rtabmap::Memory::_parallelized

private

Definition at line 357 of file Memory.h.

bool rtabmap::Memory::_rawDescriptorsKept

private

Definition at line 291 of file Memory.h.

float rtabmap::Memory::_recentWmRatio

private

Definition at line 300 of file Memory.h.

std::vector<CameraModel> rtabmap::Memory::_rectCameraModels

private

Definition at line 340 of file Memory.h.

bool rtabmap::Memory::_rectifyOnlyFeatures

private

Definition at line 325 of file Memory.h.

StereoCameraModel rtabmap::Memory::_rectStereoCameraModel

private

Definition at line 341 of file Memory.h.

bool rtabmap::Memory::_reduceGraph

private

Definition at line 298 of file Memory.h.

bool rtabmap::Memory::_reextractLoopClosureFeatures

private

Definition at line 315 of file Memory.h.

RegistrationIcp* rtabmap::Memory::_registrationIcpMulti

private

Definition at line 360 of file Memory.h.

Registration* rtabmap::Memory::_registrationPipeline

private

Definition at line 359 of file Memory.h.

float rtabmap::Memory::_rehearsalMaxAngle

private

Definition at line 318 of file Memory.h.

float rtabmap::Memory::_rehearsalMaxDistance

private

Definition at line 317 of file Memory.h.

bool rtabmap::Memory::_rehearsalWeightIgnoredWhileMoving

private

Definition at line 319 of file Memory.h.

std::string rtabmap::Memory::_rgbCompressionFormat

private

Definition at line 295 of file Memory.h.

bool rtabmap::Memory::_saveDepth16Format

private

Definition at line 292 of file Memory.h.

bool rtabmap::Memory::_saveIntermediateNodeData

private

Definition at line 294 of file Memory.h.

std::map<int, Signature *> rtabmap::Memory::_signatures

private

Definition at line 344 of file Memory.h.

int rtabmap::Memory::_signaturesAdded

private

Definition at line 337 of file Memory.h.

float rtabmap::Memory::_similarityThreshold

private

Definition at line 289 of file Memory.h.

bool rtabmap::Memory::_stereoFromMotion

private

Definition at line 307 of file Memory.h.

std::set<int> rtabmap::Memory::_stMem

private

Definition at line 345 of file Memory.h.

bool rtabmap::Memory::_tfIdfLikelihoodUsed

private

Definition at line 356 of file Memory.h.

bool rtabmap::Memory::_transferSortingByWeightId

private

Definition at line 301 of file Memory.h.

bool rtabmap::Memory::_useOdometryFeatures

private

Definition at line 320 of file Memory.h.

bool rtabmap::Memory::_useOdometryGravity

private

Definition at line 321 of file Memory.h.

int rtabmap::Memory::_visMaxFeatures

private

Definition at line 323 of file Memory.h.

VWDictionary* rtabmap::Memory::_vwd

private

Definition at line 353 of file Memory.h.

std::map<int, double> rtabmap::Memory::_workingMem

private

Definition at line 346 of file Memory.h.

const int rtabmap::Memory::kIdInvalid = 0

static

Definition at line 67 of file Memory.h.

const int rtabmap::Memory::kIdStart = 0

static

Definition at line 65 of file Memory.h.

const int rtabmap::Memory::kIdVirtual = -1

static

Definition at line 66 of file Memory.h.

ParametersMap rtabmap::Memory::parameters_

private

Definition at line 288 of file Memory.h.

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

Public Member Functions

Static Public Attributes

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation