#include <Signature.h>

Public Member Functions
void	addLandmark (const Link &landmark)

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

int	getInvalidWordsCount () const

const std::string &	getLabel () const

const std::map< int, Link > &	getLandmarks () const

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

unsigned long	getMemoryUsed (bool withSensorData=true) const

const Transform &	getPose () const

cv::Mat	getPoseCovariance () const

double	getStamp () const

const std::vector< float > &	getVelocity () const

int	getWeight () const

const std::multimap< int, int > &	getWords () const

const std::vector< cv::Point3f > &	getWords3 () const

const std::map< int, int > &	getWordsChanged () const

const cv::Mat &	getWordsDescriptors () const

const std::vector< cv::KeyPoint > &	getWordsKpts () const

bool	hasLink (int idTo, Link::Type type=Link::kUndef) 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	removeLandmarks ()

void	removeLink (int idTo)

void	removeLinks (bool keepSelfReferringLinks=false)

void	removeVirtualLinks ()

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	setVelocity (float vx, float vy, float vz, float vroll, float vpitch, float vyaw)

void	setWeight (int weight)

void	setWords (const std::multimap< int, int > &words, const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &words3, const cv::Mat &descriptors)

void	setWordsDescriptors (const 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

int	_invalidWordsCount

std::string	_label

std::map< int, Link >	_landmarks

std::multimap< int, Link >	_links

bool	_linksModified

int	_mapId

bool	_modified

Transform	_pose

bool	_saved

SensorData	_sensorData

double	_stamp

std::vector< float >	_velocity

int	_weight

std::multimap< int, int >	_words

std::vector< cv::Point3f >	_words3

std::map< int, int >	_wordsChanged

cv::Mat	_wordsDescriptors

std::vector< cv::KeyPoint >	_wordsKpts

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 52 of file Signature.cpp.

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

Definition at line 82 of file Signature.cpp.

rtabmap::Signature::~Signature ( )

virtual

Definition at line 100 of file Signature.cpp.

Member Function Documentation

void rtabmap::Signature::addLandmark ( const Link & landmark )

inline

Definition at line 93 of file Signature.h.

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

Definition at line 119 of file Signature.cpp.

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

Definition at line 105 of file Signature.cpp.

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

Definition at line 112 of file Signature.cpp.

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

Definition at line 158 of file Signature.cpp.

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

Definition at line 239 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 222 of file Signature.cpp.

const Transform& rtabmap::Signature::getGroundTruthPose ( ) const

inline

Definition at line 134 of file Signature.h.

int rtabmap::Signature::getInvalidWordsCount ( ) const

inline

Definition at line 113 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::getLandmarks ( ) const

inline

Definition at line 94 of file Signature.h.

const std::multimap<int, Link>& rtabmap::Signature::getLinks ( ) const

inline

Definition at line 100 of file Signature.h.

unsigned long rtabmap::Signature::getMemoryUsed ( bool withSensorData = true ) const

Definition at line 345 of file Signature.cpp.

const Transform& rtabmap::Signature::getPose ( ) const

inline

Definition at line 132 of file Signature.h.

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

Definition at line 324 of file Signature.cpp.

double rtabmap::Signature::getStamp ( ) const

inline

Definition at line 79 of file Signature.h.

const std::vector<float>& rtabmap::Signature::getVelocity ( ) const

inline

Definition at line 135 of file Signature.h.

int rtabmap::Signature::getWeight ( ) const

inline

Definition at line 74 of file Signature.h.

const std::multimap<int, int>& rtabmap::Signature::getWords ( ) const

inline

Definition at line 111 of file Signature.h.

const std::vector<cv::Point3f>& rtabmap::Signature::getWords3 ( ) const

inline

Definition at line 131 of file Signature.h.

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

inline

Definition at line 114 of file Signature.h.

const cv::Mat& rtabmap::Signature::getWordsDescriptors ( ) const

inline

Definition at line 115 of file Signature.h.

const std::vector<cv::KeyPoint>& rtabmap::Signature::getWordsKpts ( ) const

inline

Definition at line 112 of file Signature.h.

bool rtabmap::Signature::hasLink	(	int	idTo,
		Link::Type	type = `Link::kUndef`
	)		const

Definition at line 129 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 290 of file Signature.cpp.

bool rtabmap::Signature::isEnabled ( ) const

inline

Definition at line 109 of file Signature.h.

bool rtabmap::Signature::isLinksModified ( ) const

inline

Definition at line 103 of file Signature.h.

bool rtabmap::Signature::isModified ( ) const

inline

Definition at line 102 of file Signature.h.

bool rtabmap::Signature::isSaved ( ) const

inline

Definition at line 101 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 295 of file Signature.cpp.

void rtabmap::Signature::removeLandmarks ( )

inline

Definition at line 95 of file Signature.h.

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

Definition at line 197 of file Signature.cpp.

void rtabmap::Signature::removeLinks ( bool keepSelfReferringLinks = false )

Definition at line 172 of file Signature.cpp.

void rtabmap::Signature::removeVirtualLinks ( )

Definition at line 207 of file Signature.cpp.

SensorData& rtabmap::Signature::sensorData ( )

inline

Definition at line 137 of file Signature.h.

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

inline

Definition at line 138 of file Signature.h.

void rtabmap::Signature::setEnabled ( bool enabled )

inline

Definition at line 110 of file Signature.h.

void rtabmap::Signature::setGroundTruthPose ( const Transform & pose )

inline

Definition at line 120 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 98 of file Signature.h.

void rtabmap::Signature::setPose ( const Transform & pose )

inline

Definition at line 119 of file Signature.h.

void rtabmap::Signature::setSaved ( bool saved )

inline

Definition at line 97 of file Signature.h.

void rtabmap::Signature::setVelocity	(	float	vx,
		float	vy,
		float	vz,
		float	vroll,
		float	vpitch,
		float	vyaw
	)

inline

Definition at line 121 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, int > &	words,
		const std::vector< cv::KeyPoint > &	keypoints,
		const std::vector< cv::Point3f > &	words3,
		const cv::Mat &	descriptors
	)

Definition at line 262 of file Signature.cpp.

void rtabmap::Signature::setWordsDescriptors ( const cv::Mat & descriptors )

Definition at line 304 of file Signature.cpp.

Member Data Documentation

bool rtabmap::Signature::_enabled

private

Definition at line 162 of file Signature.h.

Transform rtabmap::Signature::_groundTruthPose

private

Definition at line 166 of file Signature.h.

int rtabmap::Signature::_id

private

Definition at line 143 of file Signature.h.

int rtabmap::Signature::_invalidWordsCount

private

Definition at line 163 of file Signature.h.

std::string rtabmap::Signature::_label

private

Definition at line 149 of file Signature.h.

std::map<int, Link> rtabmap::Signature::_landmarks

private

Definition at line 147 of file Signature.h.

std::multimap<int, Link> rtabmap::Signature::_links

private

Definition at line 146 of file Signature.h.

bool rtabmap::Signature::_linksModified

private

Definition at line 152 of file Signature.h.

int rtabmap::Signature::_mapId

private

Definition at line 144 of file Signature.h.

bool rtabmap::Signature::_modified

private

Definition at line 151 of file Signature.h.

Transform rtabmap::Signature::_pose

private

Definition at line 165 of file Signature.h.

bool rtabmap::Signature::_saved

private

Definition at line 150 of file Signature.h.

SensorData rtabmap::Signature::_sensorData

private

Definition at line 169 of file Signature.h.

double rtabmap::Signature::_stamp

private

Definition at line 145 of file Signature.h.

std::vector<float> rtabmap::Signature::_velocity

private

Definition at line 167 of file Signature.h.

int rtabmap::Signature::_weight

private

Definition at line 148 of file Signature.h.

std::multimap<int, int> rtabmap::Signature::_words

private

Definition at line 157 of file Signature.h.

std::vector<cv::Point3f> rtabmap::Signature::_words3

private

Definition at line 159 of file Signature.h.

std::map<int, int> rtabmap::Signature::_wordsChanged

private

Definition at line 161 of file Signature.h.

cv::Mat rtabmap::Signature::_wordsDescriptors

private

Definition at line 160 of file Signature.h.

std::vector<cv::KeyPoint> rtabmap::Signature::_wordsKpts

private

Definition at line 158 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