rtabmap::Signature Class Reference

#include <Signature.h>

Public Member Functions
void	addLink (const Link &link)
void	addLinks (const std::list< Link > &links)
void	addLinks (const std::map< int, Link > &links)
void	changeLinkIds (int idFrom, int idTo)
void	changeWordsRef (int oldWordId, int activeWordId)
float	compareTo (const Signature &signature) const
const Transform &	getGroundTruthPose () const
int	getInvalidWordsCount () const
const std::string &	getLabel () const
const std::map< int, Link > &	getLinks () const
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, cv::KeyPoint > &	getWords () const
const std::multimap< int, cv::Point3f > &	getWords3 () const
const std::map< int, int > &	getWordsChanged () const
const std::multimap< int, cv::Mat > &	getWordsDescriptors () const
bool	hasLink (int idTo) const
int	id () const
bool	isBadSignature () const
bool	isEnabled () const
bool	isLinksModified () const
bool	isModified () const
bool	isSaved () const
int	mapId () const
void	removeAllWords ()
void	removeLink (int idTo)
void	removeLinks ()
void	removeVirtualLinks ()
void	removeWord (int wordId)
SensorData &	sensorData ()
const SensorData &	sensorData () const
void	setEnabled (bool enabled)
void	setGroundTruthPose (const Transform &pose)
void	setLabel (const std::string &label)
void	setModified (bool modified)
void	setPose (const Transform &pose)
void	setSaved (bool saved)
void	setVelocity (float vx, float vy, float vz, float vroll, float vpitch, float vyaw)
void	setWeight (int weight)
void	setWords (const std::multimap< int, cv::KeyPoint > &words)
void	setWords3 (const std::multimap< int, cv::Point3f > &words3)
void	setWordsDescriptors (const std::multimap< int, cv::Mat > &descriptors)
	Signature ()
	Signature (int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())
	Signature (const SensorData &data)
virtual	~Signature ()

Private Attributes
bool	_enabled
Transform	_groundTruthPose
int	_id
int	_invalidWordsCount
std::string	_label
std::map< 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, cv::KeyPoint >	_words
std::multimap< int, cv::Point3f >	_words3
std::map< int, int >	_wordsChanged
std::multimap< int, cv::Mat >	_wordsDescriptors

Detailed Description

Definition at line 48 of file Signature.h.

Constructor & Destructor Documentation

rtabmap::Signature::Signature

(

)

Definition at line 39 of file Signature.cpp.

rtabmap::Signature::Signature	(	int	id,
		int	mapId = -1,
		int	weight = 0,
		double	stamp = 0.0,
		const std::string &	label = std::string(),
		const Transform &	pose = Transform(),
		const Transform &	groundTruthPose = Transform(),
		const SensorData &	sensorData = SensorData()
	)

Definition at line 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::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 134 of file Signature.cpp.

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

Definition at line 197 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 180 of file Signature.cpp.

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

inline

Definition at line 131 of file Signature.h.

int rtabmap::Signature::getInvalidWordsCount ( ) const

inline

Definition at line 109 of file Signature.h.

const std::string& rtabmap::Signature::getLabel ( ) const

inline

Definition at line 77 of file Signature.h.

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

inline

Definition at line 96 of file Signature.h.

long rtabmap::Signature::getMemoryUsed

(

bool

withSensorData = true

)

const

Definition at line 295 of file Signature.cpp.

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

inline

Definition at line 129 of file Signature.h.

cv::Mat rtabmap::Signature::getPoseCovariance

(

)

const

Definition at line 274 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 132 of file Signature.h.

int rtabmap::Signature::getWeight ( ) const

inline

Definition at line 74 of file Signature.h.

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

inline

Definition at line 108 of file Signature.h.

const std::multimap<int, cv::Point3f>& rtabmap::Signature::getWords3 ( ) const

inline

Definition at line 128 of file Signature.h.

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

inline

Definition at line 110 of file Signature.h.

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

inline

Definition at line 111 of file Signature.h.

bool rtabmap::Signature::hasLink

(

int

idTo

)

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 246 of file Signature.cpp.

bool rtabmap::Signature::isEnabled ( ) const

inline

Definition at line 106 of file Signature.h.

bool rtabmap::Signature::isLinksModified ( ) const

inline

Definition at line 99 of file Signature.h.

bool rtabmap::Signature::isModified ( ) const

inline

Definition at line 98 of file Signature.h.

bool rtabmap::Signature::isSaved ( ) const

inline

Definition at line 97 of file Signature.h.

int rtabmap::Signature::mapId ( ) const

inline

Definition at line 71 of file Signature.h.

void rtabmap::Signature::removeAllWords

(

)

Definition at line 251 of file Signature.cpp.

void rtabmap::Signature::removeLink

(

int

idTo

)

Definition at line 155 of file Signature.cpp.

void rtabmap::Signature::removeLinks

(

)

Definition at line 148 of file Signature.cpp.

void rtabmap::Signature::removeVirtualLinks

(

)

Definition at line 165 of file Signature.cpp.

void rtabmap::Signature::removeWord

(

int

wordId

)

Definition at line 259 of file Signature.cpp.

SensorData& rtabmap::Signature::sensorData ( )

inline

Definition at line 134 of file Signature.h.

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

inline

Definition at line 135 of file Signature.h.

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

inline

Definition at line 107 of file Signature.h.

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

inline

Definition at line 117 of file Signature.h.

void rtabmap::Signature::setLabel ( const std::string &  label )

inline

Definition at line 76 of file Signature.h.

void rtabmap::Signature::setModified ( bool  modified )

inline

Definition at line 94 of file Signature.h.

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

inline

Definition at line 116 of file Signature.h.

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

inline

Definition at line 93 of file Signature.h.

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

inline

Definition at line 118 of file Signature.h.

void rtabmap::Signature::setWeight ( int  weight )

inline

Definition at line 73 of file Signature.h.

void rtabmap::Signature::setWords

(

const std::multimap< int, cv::KeyPoint > &

words

)

Definition at line 231 of file Signature.cpp.

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

inline

Definition at line 115 of file Signature.h.

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

inline

Definition at line 112 of file Signature.h.

Member Data Documentation

bool rtabmap::Signature::_enabled

private

Definition at line 157 of file Signature.h.

Transform rtabmap::Signature::_groundTruthPose

private

Definition at line 161 of file Signature.h.

int rtabmap::Signature::_id

private

Definition at line 140 of file Signature.h.

int rtabmap::Signature::_invalidWordsCount

private

Definition at line 158 of file Signature.h.

std::string rtabmap::Signature::_label

private

Definition at line 145 of file Signature.h.

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

private

Definition at line 143 of file Signature.h.

bool rtabmap::Signature::_linksModified

private

Definition at line 148 of file Signature.h.

int rtabmap::Signature::_mapId

private

Definition at line 141 of file Signature.h.

bool rtabmap::Signature::_modified

private

Definition at line 147 of file Signature.h.

Transform rtabmap::Signature::_pose

private

Definition at line 160 of file Signature.h.

bool rtabmap::Signature::_saved

private

Definition at line 146 of file Signature.h.

SensorData rtabmap::Signature::_sensorData

private

Definition at line 164 of file Signature.h.

double rtabmap::Signature::_stamp

private

Definition at line 142 of file Signature.h.

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

private

Definition at line 162 of file Signature.h.

int rtabmap::Signature::_weight

private

Definition at line 144 of file Signature.h.

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

private

Definition at line 153 of file Signature.h.

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

private

Definition at line 154 of file Signature.h.

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

private

Definition at line 156 of file Signature.h.

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

private

Definition at line 155 of file Signature.h.

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

• Signature.h
• Signature.cpp