#include <Rtabmap.h>

Public Types
enum	VhStrategy { kVhNone, kVhEpipolar, kVhUndef }

Public Member Functions
bool	addLink (const Link &link)

void	adjustLikelihood (std::map< int, float > &likelihood) const

void	clearPath (int status)

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

bool	computePath (int targetNode, bool global)

bool	computePath (const Transform &targetPose, float tolerance=-1.0f)

void	deleteLastLocation ()

int	detectMoreLoopClosures (float clusterRadius=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, bool intraSession=true, bool interSession=true, const ProgressState *state=0)

void	dumpData () const

void	dumpPrediction () const

void	exportPoses (const std::string &path, bool optimized, bool global, int format)

void	generateDOTGraph (const std::string &path, int id=0, int margin=5)

std::map< int, Transform >	getForwardWMPoses (int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const

float	getGoalReachedRadius () const

void	getGraph (std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0, bool withImages=false, bool withScan=false, bool withUserData=false, bool withGrid=false, bool withWords=true, bool withGlobalDescriptors=true) const

int	getHighestHypothesisId () const

float	getHighestHypothesisValue () const

cv::Mat	getInformation (const cv::Mat &covariance) const

const Transform &	getLastLocalizationPose () const

int	getLastLocationId () const

double	getLastProcessTime () const

const std::multimap< int, Link > &	getLocalConstraints () const

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

float	getLocalRadius () const

int	getLoopClosureId () const

float	getLoopClosureValue () const

Transform	getMapCorrection () const

const Memory *	getMemory () const

std::map< int, Transform >	getNodesInRadius (const Transform &pose, float radius)

std::map< int, Transform >	getNodesInRadius (int nodeId, float radius)

const ParametersMap &	getParameters () const

const std::vector< std::pair< int, Transform > > &	getPath () const

int	getPathCurrentGoalId () const

unsigned int	getPathCurrentGoalIndex () const

unsigned int	getPathCurrentIndex () const

std::vector< int >	getPathNextNodes () const

std::vector< std::pair< int, Transform > >	getPathNextPoses () const

std::map< int, std::map< int, Transform > >	getPaths (const std::map< int, Transform > &poses, const Transform &target, int maxGraphDepth=0) const

int	getPathStatus () const

const Transform &	getPathTransformToGoal () const

Transform	getPose (int locationId) const

Signature	getSignatureCopy (int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const

const Statistics &	getStatistics () const

std::set< int >	getSTM () const

int	getSTMSize () const

float	getTimeThreshold () const

int	getTotalMemSize () const

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

std::list< int >	getWM () const

int	getWMSize () const

const std::string &	getWorkingDir () const

void	init (const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false)

void	init (const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false)

bool	isIDsGenerated () const

bool	isInSTM (int locationId) const

bool	isRGBDMode () const

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

void	parseParameters (const ParametersMap &parameters)

bool	process (const SensorData &data, Transform odomPose, const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())
	Main loop of rtabmap. More...

bool	process (const SensorData &data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())

bool	process (const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())

int	refineLinks ()

void	rejectLastLoopClosure ()

void	resetMemory ()

	Rtabmap ()

	RTABMAP_DEPRECATED (void get3DMap(std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) const,"Use getGraph() instead with withImages=true, withScan=true, withUserData=true and withGrid=true.")

std::pair< int, float >	selectHypothesis (const std::map< int, float > &posterior, const std::map< int, float > &likelihood) const

void	setInitialPose (const Transform &initialPose)

void	setOptimizedPoses (const std::map< int, Transform > &poses)

void	setTimeThreshold (float maxTimeAllowed)

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

void	setWorkingDirectory (std::string path)

int	triggerNewMap ()

virtual	~Rtabmap ()

Private Member Functions
bool	computePath (int targetNode, std::map< int, Transform > nodes, const std::multimap< int, rtabmap::Link > &constraints)

void	flushStatisticLogs ()

void	optimizeCurrentMap (int id, bool lookInDatabase, std::map< int, Transform > &optimizedPoses, cv::Mat &covariance, std::multimap< int, Link > constraints=0, double error=0, int *iterationsDone=0) const

std::map< int, Transform >	optimizeGraph (int fromId, const std::set< int > &ids, const std::map< int, Transform > &guessPoses, bool lookInDatabase, cv::Mat &covariance, std::multimap< int, Link > constraints=0, double error=0, int *iterationsDone=0) const

void	setupLogFiles (bool overwrite=false)

void	updateGoalIndex ()

Private Attributes
BayesFilter *	_bayesFilter

std::list< std::string >	_bufferedLogsF

std::list< std::string >	_bufferedLogsI

bool	_computeRMSE

std::multimap< int, Link >	_constraints

bool	_currentSessionHasGPS

std::string	_databasePath

float	_distanceTravelled

float	_distanceTravelledSinceLastLocalization

EpipolarGeometry *	_epipolarGeometry

FILE *	_foutFloat

FILE *	_foutInt

float	_goalReachedRadius

bool	_goalsSavedInUserData

std::map< int, std::pair< cv::Point3d, Transform > >	_gpsGeocentricCache

Optimizer *	_graphOptimizer

std::pair< int, float >	_highestHypothesis

int	_lastLocalizationNodeId

Transform	_lastLocalizationPose

double	_lastProcessTime

float	_localImmunizationRatio

float	_localRadius

std::pair< int, float >	_loopClosureHypothesis

bool	_loopCovLimited

bool	_loopGPS

float	_loopRatio

float	_loopThr

Transform	_mapCorrection

Transform	_mapCorrectionBackup

unsigned int	_maxLocalRetrieved

float	_maxLoopClosureDistance

unsigned int	_maxMemoryAllowed

int	_maxOdomCacheSize

unsigned int	_maxRetrieved

float	_maxTimeAllowed

Memory *	_memory

bool	_neighborLinkRefining

float	_newMapOdomChangeDistance

std::map< int, Transform >	_odomCacheAddLink

std::multimap< int, Link >	_odomCacheConstraints

std::map< int, Transform >	_odomCachePoses

std::vector< float >	_odomCorrectionAcc

float	_optimizationMaxError

std::map< int, Transform >	_optimizedPoses

bool	_optimizeFromGraphEnd

bool	_optimizeFromGraphEndChanged

ParametersMap	_parameters

std::vector< std::pair< int, Transform > >	_path

float	_pathAngularVelocity

unsigned int	_pathCurrentIndex

unsigned int	_pathGoalIndex

float	_pathLinearVelocity

int	_pathStatus

int	_pathStuckCount

float	_pathStuckDistance

int	_pathStuckIterations

Transform	_pathTransformToGoal

std::set< unsigned int >	_pathUnreachableNodes

float	_proximityAngle

bool	_proximityBySpace

bool	_proximityByTime

float	_proximityFilteringRadius

int	_proximityMaxGraphDepth

int	_proximityMaxNeighbors

int	_proximityMaxPaths

bool	_proximityOdomGuess

bool	_proximityRawPosesUsed

bool	_publishLastSignatureData

bool	_publishLikelihood

bool	_publishPdf

bool	_publishRAMUsage

bool	_publishStats

bool	_rawDataKept

float	_rgbdAngularSpeedUpdate

float	_rgbdAngularUpdate

float	_rgbdLinearSpeedUpdate

float	_rgbdLinearUpdate

bool	_rgbdSlamMode

bool	_savedLocalizationIgnored

bool	_saveWMState

bool	_scanMatchingIdsSavedInLinks

bool	_someNodesHaveBeenTransferred

bool	_startNewMapOnGoodSignature

bool	_startNewMapOnLoopClosure

bool	_statisticLogged

bool	_statisticLoggedHeaders

bool	_statisticLogsBufferedInRAM

bool	_verifyLoopClosureHypothesis

std::string	_wDir

Statistics	statistics_

Detailed Description

Definition at line 53 of file Rtabmap.h.

Member Enumeration Documentation

enum rtabmap::Rtabmap::VhStrategy

Enumerator
kVhNone
kVhEpipolar
kVhUndef

Definition at line 56 of file Rtabmap.h.

Constructor & Destructor Documentation

rtabmap::Rtabmap::Rtabmap ( )

Definition at line 79 of file Rtabmap.cpp.

rtabmap::Rtabmap::~Rtabmap ( )

virtual

Definition at line 159 of file Rtabmap.cpp.

Member Function Documentation

bool rtabmap::Rtabmap::addLink ( const Link & link )

Definition at line 4974 of file Rtabmap.cpp.

void rtabmap::Rtabmap::adjustLikelihood ( std::map< int, float > & likelihood ) const

Definition at line 4324 of file Rtabmap.cpp.

void rtabmap::Rtabmap::clearPath ( int status )

Definition at line 5212 of file Rtabmap.cpp.

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

Close rtabmap. This will delete rtabmap object if set.

Parameters

databaseSaved	true=database saved, false=database discarded.
databasePath	output database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).

Definition at line 392 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		bool	global
	)

Definition at line 5230 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	const Transform &	targetPose,
		float	tolerance = `-1.0f`
	)

Definition at line 5375 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		std::map< int, Transform >	nodes,
		const std::multimap< int, rtabmap::Link > &	constraints
	)

private

void rtabmap::Rtabmap::deleteLastLocation ( )

Definition at line 3928 of file Rtabmap.cpp.

int rtabmap::Rtabmap::detectMoreLoopClosures	(	float	clusterRadius = `0.5f`,
		float	clusterAngle = `M_PI/6.0f`,
		int	iterations = `1`,
		bool	intraSession = `true`,
		bool	interSession = `true`,
		const ProgressState *	state = `0`
	)

Definition at line 4629 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpData ( ) const

Definition at line 3983 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpPrediction ( ) const

Definition at line 4395 of file Rtabmap.cpp.

void rtabmap::Rtabmap::exportPoses	(	const std::string &	path,
		bool	optimized,
		bool	global,
		int	format
	)

Definition at line 858 of file Rtabmap.cpp.

void rtabmap::Rtabmap::flushStatisticLogs ( )

private

Definition at line 270 of file Rtabmap.cpp.

void rtabmap::Rtabmap::generateDOTGraph	(	const std::string &	path,
		int	id = `0`,
		int	margin = `5`
	)

Definition at line 826 of file Rtabmap.cpp.

std::map< int, Transform > rtabmap::Rtabmap::getForwardWMPoses	(	int	fromId,
		int	maxNearestNeighbors,
		float	radius,
		int	maxDiffID
	)		const

Definition at line 4001 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getGoalReachedRadius ( ) const

inline

Definition at line 147 of file Rtabmap.h.

void rtabmap::Rtabmap::getGraph	(	std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	constraints,
		bool	optimized,
		bool	global,
		std::map< int, Signature > *	signatures = `0`,
		bool	withImages = `false`,
		bool	withScan = `false`,
		bool	withUserData = `false`,
		bool	withGrid = `false`,
		bool	withWords = `true`,
		bool	withGlobalDescriptors = `true`
	)		const

Definition at line 4543 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getHighestHypothesisId ( ) const

inline

Definition at line 129 of file Rtabmap.h.

float rtabmap::Rtabmap::getHighestHypothesisValue ( ) const

inline

Definition at line 130 of file Rtabmap.h.

cv::Mat rtabmap::Rtabmap::getInformation ( const cv::Mat & covariance ) const

Definition at line 5192 of file Rtabmap.cpp.

const Transform& rtabmap::Rtabmap::getLastLocalizationPose ( ) const

inline

Definition at line 149 of file Rtabmap.h.

int rtabmap::Rtabmap::getLastLocationId ( ) const

Definition at line 609 of file Rtabmap.cpp.

double rtabmap::Rtabmap::getLastProcessTime ( ) const

inline

Definition at line 138 of file Rtabmap.h.

const std::multimap<int, Link>& rtabmap::Rtabmap::getLocalConstraints ( ) const

inline

Definition at line 143 of file Rtabmap.h.

const std::map<int, Transform>& rtabmap::Rtabmap::getLocalOptimizedPoses ( ) const

inline

Definition at line 142 of file Rtabmap.h.

float rtabmap::Rtabmap::getLocalRadius ( ) const

inline

Definition at line 148 of file Rtabmap.h.

int rtabmap::Rtabmap::getLoopClosureId ( ) const

inline

Definition at line 127 of file Rtabmap.h.

float rtabmap::Rtabmap::getLoopClosureValue ( ) const

inline

Definition at line 128 of file Rtabmap.h.

Transform rtabmap::Rtabmap::getMapCorrection ( ) const

inline

Definition at line 145 of file Rtabmap.h.

const Memory* rtabmap::Rtabmap::getMemory ( ) const

inline

Definition at line 146 of file Rtabmap.h.

std::map< int, Transform > rtabmap::Rtabmap::getNodesInRadius	(	const Transform &	pose,
		float	radius
	)

Definition at line 4609 of file Rtabmap.cpp.

std::map< int, Transform > rtabmap::Rtabmap::getNodesInRadius	(	int	nodeId,
		float	radius
	)

Definition at line 4614 of file Rtabmap.cpp.

const ParametersMap& rtabmap::Rtabmap::getParameters ( ) const

inline

Definition at line 176 of file Rtabmap.h.

const std::vector<std::pair<int, Transform> >& rtabmap::Rtabmap::getPath ( ) const

inline

Definition at line 216 of file Rtabmap.h.

int rtabmap::Rtabmap::getPathCurrentGoalId ( ) const

Definition at line 5554 of file Rtabmap.cpp.

unsigned int rtabmap::Rtabmap::getPathCurrentGoalIndex ( ) const

inline

Definition at line 221 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::getPathCurrentIndex ( ) const

inline

Definition at line 220 of file Rtabmap.h.

std::vector< int > rtabmap::Rtabmap::getPathNextNodes ( ) const

Definition at line 5529 of file Rtabmap.cpp.

std::vector< std::pair< int, Transform > > rtabmap::Rtabmap::getPathNextPoses ( ) const

Definition at line 5504 of file Rtabmap.cpp.

std::map< int, std::map< int, Transform > > rtabmap::Rtabmap::getPaths	(	const std::map< int, Transform > &	poses,
		const Transform &	target,
		int	maxGraphDepth = `0`
	)		const

Definition at line 4117 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getPathStatus ( ) const

inline

Definition at line 212 of file Rtabmap.h.

const Transform& rtabmap::Rtabmap::getPathTransformToGoal ( ) const

inline

Definition at line 222 of file Rtabmap.h.

Transform rtabmap::Rtabmap::getPose ( int locationId ) const

Definition at line 704 of file Rtabmap.cpp.

Signature rtabmap::Rtabmap::getSignatureCopy	(	int	id,
		bool	images,
		bool	scan,
		bool	userData,
		bool	occupancyGrid,
		bool	withWords,
		bool	withGlobalDescriptors
	)		const

Definition at line 4453 of file Rtabmap.cpp.

const Statistics & rtabmap::Rtabmap::getStatistics ( ) const

Definition at line 699 of file Rtabmap.cpp.

std::set< int > rtabmap::Rtabmap::getSTM ( ) const

Definition at line 650 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getSTMSize ( ) const

Definition at line 659 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getTimeThreshold ( ) const

inline

Definition at line 151 of file Rtabmap.h.

int rtabmap::Rtabmap::getTotalMemSize ( ) const

Definition at line 668 of file Rtabmap.cpp.

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

Definition at line 639 of file Rtabmap.cpp.

std::list< int > rtabmap::Rtabmap::getWM ( ) const

Definition at line 619 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getWMSize ( ) const

Definition at line 630 of file Rtabmap.cpp.

const std::string& rtabmap::Rtabmap::getWorkingDir ( ) const

inline

Definition at line 125 of file Rtabmap.h.

void rtabmap::Rtabmap::init	(	const ParametersMap &	parameters,
		const std::string &	databasePath = `""`,
		bool	loadDatabaseParameters = `false`
	)

Initialize Rtabmap with parameters and a database

Parameters

parameters Parameters overriding default parameters and database parameters (

See also: loadDatabaseParameters)

Parameters

databasePath	The database input/output path. If not set, an empty database is used in RAM. If set and the file doesn't exist, it will be created empty. If the database exists, nodes and vocabulary will be loaded in working memory.
loadDatabaseParameters	If an existing database is used (

See also: databasePath), the parameters inside are loaded and set to current Rtabmap instance.

Definition at line 292 of file Rtabmap.cpp.

void rtabmap::Rtabmap::init	(	const std::string &	configFile = `""`,
		const std::string &	databasePath = `""`,
		bool	loadDatabaseParameters = `false`
	)

Initialize Rtabmap with parameters from a configuration file and a database

Parameters

configFile Configuration file (*.ini) overriding default parameters and database parameters (

See also: loadDatabaseParameters)

Parameters

databasePath	The database input/output path. If not set, an empty database is used in RAM. If set and the file doesn't exist, it will be created empty. If the database exists, nodes and vocabulary will be loaded in working memory.
loadDatabaseParameters	If an existing database is used (

See also: databasePath), the parameters inside are loaded and set to current Rtabmap instance.

Definition at line 378 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isIDsGenerated ( ) const

Definition at line 690 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isInSTM ( int locationId ) const

Definition at line 681 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isRGBDMode ( ) const

inline

Definition at line 126 of file Rtabmap.h.

bool rtabmap::Rtabmap::labelLocation	(	int	id,
		const std::string &	label
	)

Definition at line 786 of file Rtabmap.cpp.

void rtabmap::Rtabmap::optimizeCurrentMap	(	int	id,
		bool	lookInDatabase,
		std::map< int, Transform > &	optimizedPoses,
		cv::Mat &	covariance,
		std::multimap< int, Link > *	constraints = `0`,
		double *	error = `0`,
		int *	iterationsDone = `0`
	)		const

private

Definition at line 4199 of file Rtabmap.cpp.

std::map< int, Transform > rtabmap::Rtabmap::optimizeGraph	(	int	fromId,
		const std::set< int > &	ids,
		const std::map< int, Transform > &	guessPoses,
		bool	lookInDatabase,
		cv::Mat &	covariance,
		std::multimap< int, Link > *	constraints = `0`,
		double *	error = `0`,
		int *	iterationsDone = `0`
	)		const

private

Definition at line 4245 of file Rtabmap.cpp.

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

Definition at line 469 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process	(	const SensorData &	data,
		Transform	odomPose,
		const cv::Mat &	odomCovariance = `cv::Mat::eye(6,6,CV_64FC1)`,
		const std::vector< float > &	odomVelocity = `std::vector<float>()`,
		const std::map< std::string, float > &	externalStats = `std::map<std::string, float>()`
	)

Main loop of rtabmap.

Parameters

data	Sensor data to process.
odomPose	Odometry pose, should be non-null for RGB-D SLAM mode.
covariance	Odometry covariance.
externalStats	External statistics to be saved in the database for convenience

Returns: true if data has been added to map.

Definition at line 992 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process	(	const SensorData &	data,
		Transform	odomPose,
		float	odomLinearVariance,
		float	odomAngularVariance,
		const std::vector< float > &	odomVelocity = `std::vector<float>()`,
		const std::map< std::string, float > &	externalStats = `std::map<std::string, float>()`
	)

Definition at line 970 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process	(	const cv::Mat &	image,
		int	id = `0`,
		const std::map< std::string, float > &	externalStats = `std::map<std::string, float>()`
	)

Definition at line 963 of file Rtabmap.cpp.

int rtabmap::Rtabmap::refineLinks ( )

Definition at line 4928 of file Rtabmap.cpp.

void rtabmap::Rtabmap::rejectLastLoopClosure ( )

Definition at line 3870 of file Rtabmap.cpp.

void rtabmap::Rtabmap::resetMemory ( )

Definition at line 897 of file Rtabmap.cpp.

rtabmap::Rtabmap::RTABMAP_DEPRECATED	(	void get3DMap(std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global)	const,
		"Use getGraph() instead with	withImages = `true`,
		withScan	= `true`
	)

std::pair<int, float> rtabmap::Rtabmap::selectHypothesis	(	const std::map< int, float > &	posterior,
		const std::map< int, float > &	likelihood
	)		const

void rtabmap::Rtabmap::setInitialPose ( const Transform & initialPose )

Definition at line 709 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setOptimizedPoses ( const std::map< int, Transform > & poses )

Definition at line 3978 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setTimeThreshold ( float maxTimeAllowed )

Definition at line 3828 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setupLogFiles ( bool overwrite = false )

private

Definition at line 164 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::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 806 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setWorkingDirectory ( std::string path )

Definition at line 3843 of file Rtabmap.cpp.

int rtabmap::Rtabmap::triggerNewMap ( )

Definition at line 737 of file Rtabmap.cpp.

void rtabmap::Rtabmap::updateGoalIndex ( )

private

Definition at line 5564 of file Rtabmap.cpp.

Member Data Documentation

BayesFilter* rtabmap::Rtabmap::_bayesFilter

private

Definition at line 319 of file Rtabmap.h.

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsF

private

Definition at line 327 of file Rtabmap.h.

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsI

private

Definition at line 328 of file Rtabmap.h.

bool rtabmap::Rtabmap::_computeRMSE

private

Definition at line 260 of file Rtabmap.h.

std::multimap<int, Link> rtabmap::Rtabmap::_constraints

private

Definition at line 335 of file Rtabmap.h.

bool rtabmap::Rtabmap::_currentSessionHasGPS

private

Definition at line 341 of file Rtabmap.h.

std::string rtabmap::Rtabmap::_databasePath

private

Definition at line 293 of file Rtabmap.h.

float rtabmap::Rtabmap::_distanceTravelled

private

Definition at line 312 of file Rtabmap.h.

float rtabmap::Rtabmap::_distanceTravelledSinceLastLocalization

private

Definition at line 313 of file Rtabmap.h.

EpipolarGeometry* rtabmap::Rtabmap::_epipolarGeometry

private

Definition at line 318 of file Rtabmap.h.

FILE* rtabmap::Rtabmap::_foutFloat

private

Definition at line 325 of file Rtabmap.h.

FILE* rtabmap::Rtabmap::_foutInt

private

Definition at line 326 of file Rtabmap.h.

float rtabmap::Rtabmap::_goalReachedRadius

private

Definition at line 298 of file Rtabmap.h.

bool rtabmap::Rtabmap::_goalsSavedInUserData

private

Definition at line 299 of file Rtabmap.h.

std::map<int, std::pair<cv::Point3d, Transform> > rtabmap::Rtabmap::_gpsGeocentricCache

private

Definition at line 340 of file Rtabmap.h.

Optimizer* rtabmap::Rtabmap::_graphOptimizer

private

Definition at line 320 of file Rtabmap.h.

std::pair<int, float> rtabmap::Rtabmap::_highestHypothesis

private

Definition at line 309 of file Rtabmap.h.

int rtabmap::Rtabmap::_lastLocalizationNodeId

private

Definition at line 339 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_lastLocalizationPose

private

Definition at line 338 of file Rtabmap.h.

double rtabmap::Rtabmap::_lastProcessTime

private

Definition at line 310 of file Rtabmap.h.

float rtabmap::Rtabmap::_localImmunizationRatio

private

Definition at line 285 of file Rtabmap.h.

float rtabmap::Rtabmap::_localRadius

private

Definition at line 284 of file Rtabmap.h.

std::pair<int, float> rtabmap::Rtabmap::_loopClosureHypothesis

private

Definition at line 308 of file Rtabmap.h.

bool rtabmap::Rtabmap::_loopCovLimited

private

Definition at line 304 of file Rtabmap.h.

bool rtabmap::Rtabmap::_loopGPS

private

Definition at line 305 of file Rtabmap.h.

float rtabmap::Rtabmap::_loopRatio

private

Definition at line 265 of file Rtabmap.h.

float rtabmap::Rtabmap::_loopThr

private

Definition at line 264 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_mapCorrection

private

Definition at line 336 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_mapCorrectionBackup

private

Definition at line 337 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxLocalRetrieved

private

Definition at line 269 of file Rtabmap.h.

float rtabmap::Rtabmap::_maxLoopClosureDistance

private

Definition at line 266 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxMemoryAllowed

private

Definition at line 263 of file Rtabmap.h.

int rtabmap::Rtabmap::_maxOdomCacheSize

private

Definition at line 306 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxRetrieved

private

Definition at line 268 of file Rtabmap.h.

float rtabmap::Rtabmap::_maxTimeAllowed

private

Definition at line 262 of file Rtabmap.h.

Memory* rtabmap::Rtabmap::_memory

private

Definition at line 323 of file Rtabmap.h.

bool rtabmap::Rtabmap::_neighborLinkRefining

private

Definition at line 280 of file Rtabmap.h.

float rtabmap::Rtabmap::_newMapOdomChangeDistance

private

Definition at line 279 of file Rtabmap.h.

std::map<int, Transform> rtabmap::Rtabmap::_odomCacheAddLink

private

Definition at line 344 of file Rtabmap.h.

std::multimap<int, Link> rtabmap::Rtabmap::_odomCacheConstraints

private

Definition at line 343 of file Rtabmap.h.

std::map<int, Transform> rtabmap::Rtabmap::_odomCachePoses

private

Definition at line 342 of file Rtabmap.h.

std::vector<float> rtabmap::Rtabmap::_odomCorrectionAcc

private

Definition at line 345 of file Rtabmap.h.

float rtabmap::Rtabmap::_optimizationMaxError

private

Definition at line 295 of file Rtabmap.h.

std::map<int, Transform> rtabmap::Rtabmap::_optimizedPoses

private

Definition at line 334 of file Rtabmap.h.

bool rtabmap::Rtabmap::_optimizeFromGraphEnd

private

Definition at line 294 of file Rtabmap.h.

bool rtabmap::Rtabmap::_optimizeFromGraphEndChanged

private

Definition at line 314 of file Rtabmap.h.

ParametersMap rtabmap::Rtabmap::_parameters

private

Definition at line 321 of file Rtabmap.h.

std::vector<std::pair<int,Transform> > rtabmap::Rtabmap::_path

private

Definition at line 349 of file Rtabmap.h.

float rtabmap::Rtabmap::_pathAngularVelocity

private

Definition at line 302 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_pathCurrentIndex

private

Definition at line 351 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_pathGoalIndex

private

Definition at line 352 of file Rtabmap.h.

float rtabmap::Rtabmap::_pathLinearVelocity

private

Definition at line 301 of file Rtabmap.h.

int rtabmap::Rtabmap::_pathStatus

private

Definition at line 348 of file Rtabmap.h.

int rtabmap::Rtabmap::_pathStuckCount

private

Definition at line 354 of file Rtabmap.h.

float rtabmap::Rtabmap::_pathStuckDistance

private

Definition at line 355 of file Rtabmap.h.

int rtabmap::Rtabmap::_pathStuckIterations

private

Definition at line 300 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_pathTransformToGoal

private

Definition at line 353 of file Rtabmap.h.

std::set<unsigned int> rtabmap::Rtabmap::_pathUnreachableNodes

private

Definition at line 350 of file Rtabmap.h.

float rtabmap::Rtabmap::_proximityAngle

private

Definition at line 291 of file Rtabmap.h.

bool rtabmap::Rtabmap::_proximityBySpace

private

Definition at line 282 of file Rtabmap.h.

bool rtabmap::Rtabmap::_proximityByTime

private

Definition at line 281 of file Rtabmap.h.

float rtabmap::Rtabmap::_proximityFilteringRadius

private

Definition at line 289 of file Rtabmap.h.

int rtabmap::Rtabmap::_proximityMaxGraphDepth

private

Definition at line 286 of file Rtabmap.h.

int rtabmap::Rtabmap::_proximityMaxNeighbors

private

Definition at line 288 of file Rtabmap.h.

int rtabmap::Rtabmap::_proximityMaxPaths

private

Definition at line 287 of file Rtabmap.h.

bool rtabmap::Rtabmap::_proximityOdomGuess

private

Definition at line 292 of file Rtabmap.h.

bool rtabmap::Rtabmap::_proximityRawPosesUsed

private

Definition at line 290 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishLastSignatureData

private

Definition at line 256 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishLikelihood

private

Definition at line 258 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishPdf

private

Definition at line 257 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishRAMUsage

private

Definition at line 259 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishStats

private

Definition at line 255 of file Rtabmap.h.

bool rtabmap::Rtabmap::_rawDataKept

private

Definition at line 270 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdAngularSpeedUpdate

private

Definition at line 278 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdAngularUpdate

private

Definition at line 276 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdLinearSpeedUpdate

private

Definition at line 277 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdLinearUpdate

private

Definition at line 275 of file Rtabmap.h.

bool rtabmap::Rtabmap::_rgbdSlamMode

private

Definition at line 274 of file Rtabmap.h.

bool rtabmap::Rtabmap::_savedLocalizationIgnored

private

Definition at line 303 of file Rtabmap.h.

bool rtabmap::Rtabmap::_saveWMState

private

Definition at line 261 of file Rtabmap.h.

bool rtabmap::Rtabmap::_scanMatchingIdsSavedInLinks

private

Definition at line 283 of file Rtabmap.h.

bool rtabmap::Rtabmap::_someNodesHaveBeenTransferred

private

Definition at line 311 of file Rtabmap.h.

bool rtabmap::Rtabmap::_startNewMapOnGoodSignature

private

Definition at line 297 of file Rtabmap.h.

bool rtabmap::Rtabmap::_startNewMapOnLoopClosure

private

Definition at line 296 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLogged

private

Definition at line 272 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLoggedHeaders

private

Definition at line 273 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLogsBufferedInRAM

private

Definition at line 271 of file Rtabmap.h.

bool rtabmap::Rtabmap::_verifyLoopClosureHypothesis

private

Definition at line 267 of file Rtabmap.h.

std::string rtabmap::Rtabmap::_wDir

private

Definition at line 332 of file Rtabmap.h.

Statistics rtabmap::Rtabmap::statistics_

private

Definition at line 330 of file Rtabmap.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation