rtabmap::graph Namespace Reference

Classes
struct	errors
class	Node
struct	Order

Typedefs
typedef std::pair< int, float >	Pair

Functions
void RTABMAP_EXP	calcKittiSequenceErrors (const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
void RTABMAP_EXP	calcRelativeErrors (const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
Transform RTABMAP_EXP	calcRMSE (const std::map< int, Transform > &groundTruth, const std::map< int, Transform > &poses, float &translational_rmse, float &translational_mean, float &translational_median, float &translational_std, float &translational_min, float &translational_max, float &rotational_rmse, float &rotational_mean, float &rotational_median, float &rotational_std, float &rotational_min, float &rotational_max)
void RTABMAP_EXP	computeMaxGraphErrors (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, float &maxLinearErrorRatio, float &maxAngularErrorRatio, float &maxLinearError, float &maxAngularError, const Link **maxLinearErrorLink=0, const Link **maxAngularErrorLink=0)
std::list< std::pair< int, Transform > > RTABMAP_EXP	computePath (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, int > &links, int from, int to, bool updateNewCosts=false)
std::list< int > RTABMAP_EXP	computePath (const std::multimap< int, Link > &links, int from, int to, bool updateNewCosts=false, bool useSameCostForAllLinks=false)
std::list< std::pair< int, Transform > > RTABMAP_EXP	computePath (int fromId, int toId, const Memory *memory, bool lookInDatabase=true, bool updateNewCosts=false, float linearVelocity=0.0f, float angularVelocity=0.0f)
float RTABMAP_EXP	computePathLength (const std::vector< std::pair< int, Transform > > &path, unsigned int fromIndex=0, unsigned int toIndex=0)
float RTABMAP_EXP	computePathLength (const std::map< int, Transform > &path)
bool RTABMAP_EXP	exportGPS (const std::string &filePath, const std::map< int, GPS > &gpsValues, unsigned int rgba=0xFFFFFFFF)
bool RTABMAP_EXP	exportPoses (const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), const ParametersMap &parameters=ParametersMap())
std::multimap< int, Link > RTABMAP_EXP	filterDuplicateLinks (const std::multimap< int, Link > &links)
std::multimap< int, Link > RTABMAP_EXP	filterLinks (const std::multimap< int, Link > &links, Link::Type filteredType, bool inverted=false)
std::map< int, Link > RTABMAP_EXP	filterLinks (const std::map< int, Link > &links, Link::Type filteredType, bool inverted=false)
std::multimap< int, Link >::iterator RTABMAP_EXP	findLink (std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true)
std::multimap< int, int >::iterator RTABMAP_EXP	findLink (std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
std::multimap< int, Link >::const_iterator RTABMAP_EXP	findLink (const std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
std::multimap< int, int >::const_iterator RTABMAP_EXP	findLink (const std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
std::list< Link > RTABMAP_EXP	findLinks (const std::multimap< int, Link > &links, int from)
int RTABMAP_EXP	findNearestNode (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose, float *distance=0)
std::map< int, float > RTABMAP_EXP	findNearestNodes (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose, int k)
std::map< int, Transform > RTABMAP_EXP	frustumPosesFiltering (const std::map< int, Transform > &poses, const Transform &cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)
std::vector< double > RTABMAP_EXP	getMaxOdomInf (const std::multimap< int, Link > &links)
std::map< int, float > RTABMAP_EXP	getNodesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius)
std::map< int, float > RTABMAP_EXP	getNodesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius)
std::list< std::map< int, Transform > > RTABMAP_EXP	getPaths (std::map< int, Transform > poses, const std::multimap< int, Link > &links)
std::map< int, Transform > RTABMAP_EXP	getPosesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
std::map< int, Transform > RTABMAP_EXP	getPosesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
bool RTABMAP_EXP	importPoses (const std::string &filePath, int format, std::map< int, Transform > &poses, std::multimap< int, Link > *constraints=0, std::map< int, double > *stamps=0)
int32_t	lastFrameFromSegmentLength (std::vector< float > &dist, int32_t first_frame, float len)
std::multimap< int, int > RTABMAP_EXP	radiusPosesClustering (const std::map< int, Transform > &poses, float radius, float angle)
std::map< int, Transform > RTABMAP_EXP	radiusPosesFiltering (const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true)
void	reduceGraph (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, std::multimap< int, int > &hyperNodes, std::multimap< int, Link > &hyperLinks)
float	rotationError (const Transform &pose_error)
std::vector< float >	trajectoryDistances (const std::vector< Transform > &poses)
float	translationError (const Transform &pose_error)

Variables
float	lengths [] = {100,200,300,400,500,600,700,800}
int32_t	num_lengths = 8

Typedef Documentation

typedef std::pair<int, float> rtabmap::graph::Pair

Definition at line 1624 of file Graph.cpp.

Function Documentation

void rtabmap::graph::calcKittiSequenceErrors	(	const std::vector< Transform > &	poses_gt,
		const std::vector< Transform > &	poses_result,
		float &	t_err,
		float &	r_err
	)

Compute translation and rotation errors for KITTI datasets. See http://www.cvlibs.net/datasets/kitti/eval_odometry.php.

Parameters

poses_gt,Ground	Truth poses
poses_result,Estimated	poses
t_err,Output	translation error (%)
r_err,Output	rotation error (deg/m)

Definition at line 627 of file Graph.cpp.

void rtabmap::graph::calcRelativeErrors	(	const std::vector< Transform > &	poses_gt,
		const std::vector< Transform > &	poses_result,
		float &	t_err,
		float &	r_err
	)

Compute average of translation and rotation errors between each poses.

Parameters

poses_gt,Ground	Truth poses
poses_result,Estimated	poses
t_err,Output	translation error (m)
r_err,Output	rotation error (deg)

Definition at line 695 of file Graph.cpp.

Transform rtabmap::graph::calcRMSE	(	const std::map< int, Transform > &	groundTruth,
		const std::map< int, Transform > &	poses,
		float &	translational_rmse,
		float &	translational_mean,
		float &	translational_median,
		float &	translational_std,
		float &	translational_min,
		float &	translational_max,
		float &	rotational_rmse,
		float &	rotational_mean,
		float &	rotational_median,
		float &	rotational_std,
		float &	rotational_min,
		float &	rotational_max
	)

Compute root-mean-square error (RMSE) like the TUM RGBD dataset's evaluation tool (absolute trajectory error). See https://vision.in.tum.de/data/datasets/rgbd-dataset

Parameters

groundTruth,Ground	Truth poses
poses,Estimated	poses

Returns

Gt to Map transform

Definition at line 737 of file Graph.cpp.

void rtabmap::graph::computeMaxGraphErrors	(	const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	links,
		float &	maxLinearErrorRatio,
		float &	maxAngularErrorRatio,
		float &	maxLinearError,
		float &	maxAngularError,
		const Link **	maxLinearErrorLink = 0,
		const Link **	maxAngularErrorLink = 0
	)

Definition at line 874 of file Graph.cpp.

std::list< std::pair< int, Transform > > rtabmap::graph::computePath	(	const std::map< int, rtabmap::Transform > &	poses,
		const std::multimap< int, int > &	links,
		int	from,
		int	to,
		bool	updateNewCosts = false
	)

Perform A* path planning in the graph.

Parameters

poses	The graph's poses
links	The graph's links (from node id -> to node id)
from	initial node
to	final node
updateNewCosts	Keep up-to-date costs while traversing the graph.

Returns

the path ids from id "from" to id "to" including initial and final nodes.

Definition at line 1634 of file Graph.cpp.

std::list< int > RTABMAP_EXP rtabmap::graph::computePath	(	const std::multimap< int, Link > &	links,
		int	from,
		int	to,
		bool	updateNewCosts = false,
		bool	useSameCostForAllLinks = false
	)

Perform Dijkstra path planning in the graph.

Parameters

poses	The graph's poses
links	The graph's links (from node id -> to node id)
from	initial node
to	final node
updateNewCosts	Keep up-to-date costs while traversing the graph.
useSameCostForAllLinks	Ignore distance between nodes

Returns

the path ids from id "from" to id "to" including initial and final nodes.

Definition at line 1740 of file Graph.cpp.

std::list< std::pair< int, Transform > > rtabmap::graph::computePath	(	int	fromId,
		int	toId,
		const Memory *	memory,
		bool	lookInDatabase = true,
		bool	updateNewCosts = false,
		float	linearVelocity = 0.0f,
		float	angularVelocity = 0.0f
	)

Perform Dijkstra path planning in the graph.

Parameters

fromId	initial node
toId	final node
memory	The graph's memory
lookInDatabase	check links in database
updateNewCosts	Keep up-to-date costs while traversing the graph.

Returns

the path ids from id "fromId" to id "toId" including initial and final nodes (Identity pose for the first node).

Definition at line 1842 of file Graph.cpp.

float rtabmap::graph::computePathLength	(	const std::vector< std::pair< int, Transform > > &	path,
		unsigned int	fromIndex = 0,
		unsigned int	toIndex = 0
	)

Definition at line 2250 of file Graph.cpp.

float rtabmap::graph::computePathLength

(

const std::map< int, Transform > &

path

)

Definition at line 2275 of file Graph.cpp.

bool rtabmap::graph::exportGPS	(	const std::string &	filePath,
		const std::map< int, GPS > &	gpsValues,
		unsigned int	rgba = 0xFFFFFFFF
	)

Definition at line 478 of file Graph.cpp.

bool rtabmap::graph::exportPoses	(	const std::string &	filePath,
		int	format,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints = std::multimap<int, Link>(),
		const std::map< int, double > &	stamps = std::map<int, double>(),
		const ParametersMap &	parameters = ParametersMap()
	)

Definition at line 54 of file Graph.cpp.

std::multimap< int, Link > rtabmap::graph::filterDuplicateLinks

(

const std::multimap< int, Link > &

links

)

Definition at line 1116 of file Graph.cpp.

std::multimap< int, Link > rtabmap::graph::filterLinks	(	const std::multimap< int, Link > &	links,
		Link::Type	filteredType,
		bool	inverted = false
	)

Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".

Definition at line 1130 of file Graph.cpp.

std::map< int, Link > rtabmap::graph::filterLinks	(	const std::map< int, Link > &	links,
		Link::Type	filteredType,
		bool	inverted = false
	)

Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".

Definition at line 1155 of file Graph.cpp.

std::multimap< int, Link >::iterator rtabmap::graph::findLink	(	std::multimap< int, Link > &	links,
		int	from,
		int	to,
		bool	checkBothWays = true
	)

Definition at line 969 of file Graph.cpp.

std::multimap< int, int >::iterator rtabmap::graph::findLink	(	std::multimap< int, int > &	links,
		int	from,
		int	to,
		bool	checkBothWays = true
	)

Definition at line 1001 of file Graph.cpp.

std::multimap< int, Link >::const_iterator rtabmap::graph::findLink	(	const std::multimap< int, Link > &	links,
		int	from,
		int	to,
		bool	checkBothWays = true,
		Link::Type	type = Link::kUndef
	)

Definition at line 1032 of file Graph.cpp.

std::multimap< int, int >::const_iterator rtabmap::graph::findLink	(	const std::multimap< int, int > &	links,
		int	from,
		int	to,
		bool	checkBothWays = true
	)

Definition at line 1065 of file Graph.cpp.

std::list< Link > rtabmap::graph::findLinks	(	const std::multimap< int, Link > &	links,
		int	from
	)

Definition at line 1097 of file Graph.cpp.

int rtabmap::graph::findNearestNode	(	const std::map< int, rtabmap::Transform > &	nodes,
		const rtabmap::Transform &	targetPose,
		float *	distance = 0
	)

Get the nearest node of the target pose

Parameters

nodes	the nodes to search for
targetPose	the target pose to search around
distance	squared distance of the nearest node found (optional)

Returns

the node id.

Definition at line 2061 of file Graph.cpp.

std::map< int, float > rtabmap::graph::findNearestNodes	(	const std::map< int, rtabmap::Transform > &	nodes,
		const rtabmap::Transform &	targetPose,
		int	k
	)

Get K nearest nodes of the target pose

Parameters

nodes	the nodes to search for
targetPose	the target pose to search around
k	number of nearest neighbors to search for

Returns

the node ids with squared distance to target pose.

Definition at line 2079 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::frustumPosesFiltering	(	const std::map< int, Transform > &	poses,
		const Transform &	cameraPose,
		float	horizontalFOV = 45.0f,
		float	verticalFOV = 45.0f,
		float	nearClipPlaneDistance = 0.1f,
		float	farClipPlaneDistance = 100.0f,
		bool	negative = false
	)

Definition at line 1180 of file Graph.cpp.

std::vector< double > rtabmap::graph::getMaxOdomInf

(

const std::multimap< int, Link > &

links

)

Definition at line 941 of file Graph.cpp.

std::map< int, float > rtabmap::graph::getNodesInRadius	(	int	nodeId,
		const std::map< int, Transform > &	nodes,
		float	radius
	)

Get nodes near the query

Parameters

nodeId	the query id
nodes	the nodes to search for
radius	radius to search for (m)

Returns

the nodes with squared distance to query node.

Definition at line 2113 of file Graph.cpp.

std::map< int, float > rtabmap::graph::getNodesInRadius	(	const Transform &	targetPose,
		const std::map< int, Transform > &	nodes,
		float	radius
	)

Definition at line 2127 of file Graph.cpp.

std::list< std::map< int, Transform > > rtabmap::graph::getPaths	(	std::map< int, Transform >	poses,
		const std::multimap< int, Link > &	links
	)

Definition at line 2299 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::getPosesInRadius	(	int	nodeId,
		const std::map< int, Transform > &	nodes,
		float	radius,
		float	angle = 0.0f
	)

Definition at line 2173 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::getPosesInRadius	(	const Transform &	targetPose,
		const std::map< int, Transform > &	nodes,
		float	radius,
		float	angle = 0.0f
	)

Definition at line 2187 of file Graph.cpp.

bool rtabmap::graph::importPoses	(	const std::string &	filePath,
		int	format,
		std::map< int, Transform > &	poses,
		std::multimap< int, Link > *	constraints = 0,
		std::map< int, double > *	stamps = 0
	)

Definition at line 170 of file Graph.cpp.

int32_t rtabmap::graph::lastFrameFromSegmentLength	(	std::vector< float > &	dist,
		int32_t	first_frame,
		float	len
	)

Definition at line 605 of file Graph.cpp.

std::multimap< int, int > rtabmap::graph::radiusPosesClustering	(	const std::map< int, Transform > &	poses,
		float	radius,
		float	angle
	)

Get all neighbor nodes in a fixed radius around each pose.

Parameters

poses	The poses
radius	Radius (m) of the search for near neighbors
angle	Maximum angle (rad, [0,PI]) of accepted neighbor nodes in the radius (0 means ignore angle)

Returns

A map between each pose id and its neighbors found in the radius

Definition at line 1341 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::radiusPosesFiltering	(	const std::map< int, Transform > &	poses,
		float	radius,
		float	angle,
		bool	keepLatest = true
	)

Get only the the most recent or older poses in the defined radius.

Parameters

poses	The poses
radius	Radius (m) of the search for near neighbors
angle	Maximum angle (rad, [0,PI]) of accepted neighbor nodes in the radius (0 means ignore angle)
keepLatest	keep the latest node if true, otherwise the oldest node is kept

Returns

A map containing only most recent or older poses in the the defined radius

Definition at line 1229 of file Graph.cpp.

void rtabmap::graph::reduceGraph	(	const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	links,
		std::multimap< int, int > &	hyperNodes,
		std::multimap< int, Link > &	hyperLinks
	)

Definition at line 1397 of file Graph.cpp.

float rtabmap::graph::rotationError ( const Transform &  pose_error )

inline

Definition at line 612 of file Graph.cpp.

std::vector<float> rtabmap::graph::trajectoryDistances

(

const std::vector< Transform > &

poses

)

Definition at line 591 of file Graph.cpp.

float rtabmap::graph::translationError ( const Transform &  pose_error )

inline

Definition at line 620 of file Graph.cpp.

Variable Documentation

float rtabmap::graph::lengths[] = {100,200,300,400,500,600,700,800}

Definition at line 578 of file Graph.cpp.

int32_t rtabmap::graph::num_lengths = 8

Definition at line 579 of file Graph.cpp.