Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | Private Attributes | List of all members
rtabmap::VWDictionary Class Reference

#include <VWDictionary.h>

Public Types

enum  NNStrategy {
  kNNFlannNaive, kNNFlannKdTree, kNNFlannLSH, kNNBruteForce,
  kNNBruteForceGPU, kNNUndef
}
 

Public Member Functions

virtual std::list< int > addNewWords (const cv::Mat &descriptors, int signatureId)
 
virtual void addWord (VisualWord *vw)
 
void addWordRef (int wordId, int signatureId)
 
void clear (bool printWarningsIfNotEmpty=true)
 
void deleteUnusedWords ()
 
void exportDictionary (const char *fileNameReferences, const char *fileNameDescriptors) const
 
std::vector< int > findNN (const std::list< VisualWord * > &vws) const
 
std::vector< int > findNN (const cv::Mat &descriptors) const
 
unsigned int getIndexedWordsCount () const
 
unsigned int getIndexMemoryUsed () const
 
int getLastIndexedWordId () const
 
float getNndrRatio () const
 
unsigned int getNotIndexedWordsCount () const
 
int getTotalActiveReferences () const
 
VisualWord * getUnusedWord (int id) const
 
std::vector< int > getUnusedWordIds () const
 
std::vector< VisualWord * > getUnusedWords () const
 
unsigned int getUnusedWordsSize () const
 
const std::map< int, VisualWord * > & getVisualWords () const
 
const VisualWord * getWord (int id) const
 
bool isIncremental () const
 
bool isIncrementalFlann () const
 
virtual void parseParameters (const ParametersMap &parameters)
 
void removeAllWordRef (int wordId, int signatureId)
 
void removeWords (const std::vector< VisualWord * > &words)
 
void setFixedDictionary (const std::string &dictionaryPath)
 
void setIncrementalDictionary ()
 
void setLastWordId (int id)
 
void setNNStrategy (NNStrategy strategy)
 
virtual void update ()
 
 VWDictionary (const ParametersMap &parameters=ParametersMap())
 
virtual ~VWDictionary ()
 

Static Public Attributes

static const int ID_INVALID = 0
 
static const int ID_START = 1
 

Protected Member Functions

int getNextId ()
 

Protected Attributes

int _totalActiveReferences
 
std::map< int, VisualWord * > _visualWords
 

Private Attributes

cv::Mat _dataTree
 
std::string _dictionaryPath
 
FlannIndex * _flannIndex
 
bool _incrementalDictionary
 
bool _incrementalFlann
 
int _lastWordId
 
std::map< int,int > _mapIdIndex
 
std::map< int,int > _mapIndexId
 
bool _newWordsComparedTogether
 
float _nndrRatio
 
std::set< int > _notIndexedWords
 
float _rebalancingFactor
 
std::set< int > _removedIndexedWords
 
NNStrategy _strategy
 
std::map< int, VisualWord * > _unusedWords
 
bool useDistanceL1_
 

Detailed Description

Definition at line 46 of file VWDictionary.h.

Member Enumeration Documentation

enum rtabmap::VWDictionary::NNStrategy
Enumerator
kNNFlannNaive 
kNNFlannKdTree 
kNNFlannLSH 
kNNBruteForce 
kNNBruteForceGPU 
kNNUndef 

Definition at line 49 of file VWDictionary.h.

Constructor & Destructor Documentation

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

Definition at line 63 of file VWDictionary.cpp.

rtabmap::VWDictionary::~VWDictionary ( )
virtual

Definition at line 80 of file VWDictionary.cpp.

Member Function Documentation

std::list< int > rtabmap::VWDictionary::addNewWords ( const cv::Mat &  descriptors,
int  signatureId 
)
virtual

Definition at line 634 of file VWDictionary.cpp.

void rtabmap::VWDictionary::addWord ( VisualWord *  vw)
virtual

Definition at line 1251 of file VWDictionary.cpp.

void rtabmap::VWDictionary::addWordRef ( int  wordId,
int  signatureId 
)

Definition at line 603 of file VWDictionary.cpp.

void rtabmap::VWDictionary::clear ( bool  printWarningsIfNotEmpty = true)

Definition at line 561 of file VWDictionary.cpp.

void rtabmap::VWDictionary::deleteUnusedWords ( )

Definition at line 1306 of file VWDictionary.cpp.

void rtabmap::VWDictionary::exportDictionary ( const char *  fileNameReferences,
const char *  fileNameDescriptors 
) const

Definition at line 1316 of file VWDictionary.cpp.

std::vector< int > rtabmap::VWDictionary::findNN ( const std::list< VisualWord * > &  vws) const

Definition at line 936 of file VWDictionary.cpp.

std::vector< int > rtabmap::VWDictionary::findNN ( const cv::Mat &  descriptors) const

Definition at line 978 of file VWDictionary.cpp.

unsigned int rtabmap::VWDictionary::getIndexedWordsCount ( ) const

Definition at line 338 of file VWDictionary.cpp.

unsigned int rtabmap::VWDictionary::getIndexMemoryUsed ( ) const

Definition at line 343 of file VWDictionary.cpp.

int rtabmap::VWDictionary::getLastIndexedWordId ( ) const

Definition at line 326 of file VWDictionary.cpp.

int rtabmap::VWDictionary::getNextId ( )
protected

Definition at line 598 of file VWDictionary.cpp.

float rtabmap::VWDictionary::getNndrRatio ( ) const
inline

Definition at line 81 of file VWDictionary.h.

unsigned int rtabmap::VWDictionary::getNotIndexedWordsCount ( ) const
inline

Definition at line 82 of file VWDictionary.h.

int rtabmap::VWDictionary::getTotalActiveReferences ( ) const
inline

Definition at line 84 of file VWDictionary.h.

VisualWord * rtabmap::VWDictionary::getUnusedWord ( int  id) const

Definition at line 1277 of file VWDictionary.cpp.

std::vector< int > rtabmap::VWDictionary::getUnusedWordIds ( ) const

Definition at line 1287 of file VWDictionary.cpp.

std::vector< VisualWord * > rtabmap::VWDictionary::getUnusedWords ( ) const

Definition at line 1282 of file VWDictionary.cpp.

unsigned int rtabmap::VWDictionary::getUnusedWordsSize ( ) const
inline

Definition at line 98 of file VWDictionary.h.

const std::map<int, VisualWord *>& rtabmap::VWDictionary::getVisualWords ( ) const
inline

Definition at line 80 of file VWDictionary.h.

const VisualWord * rtabmap::VWDictionary::getWord ( int  id) const

Definition at line 1272 of file VWDictionary.cpp.

bool rtabmap::VWDictionary::isIncremental ( ) const
inline

Definition at line 88 of file VWDictionary.h.

bool rtabmap::VWDictionary::isIncrementalFlann ( ) const
inline

Definition at line 89 of file VWDictionary.h.

void rtabmap::VWDictionary::parseParameters ( const ParametersMap &  parameters)
virtual

Definition at line 86 of file VWDictionary.cpp.

void rtabmap::VWDictionary::removeAllWordRef ( int  wordId,
int  signatureId 
)

Definition at line 620 of file VWDictionary.cpp.

void rtabmap::VWDictionary::removeWords ( const std::vector< VisualWord * > &  words)

Definition at line 1292 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setFixedDictionary ( const std::string &  dictionaryPath)

Definition at line 138 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setIncrementalDictionary ( )

Definition at line 125 of file VWDictionary.cpp.

void rtabmap::VWDictionary::setLastWordId ( int  id)
inline

Definition at line 79 of file VWDictionary.h.

void rtabmap::VWDictionary::setNNStrategy ( NNStrategy  strategy)

Definition at line 280 of file VWDictionary.cpp.

void rtabmap::VWDictionary::update ( )
virtual

Definition at line 348 of file VWDictionary.cpp.

Member Data Documentation

cv::Mat rtabmap::VWDictionary::_dataTree
private

Definition at line 119 of file VWDictionary.h.

std::string rtabmap::VWDictionary::_dictionaryPath
private

Definition at line 114 of file VWDictionary.h.

FlannIndex* rtabmap::VWDictionary::_flannIndex
private

Definition at line 118 of file VWDictionary.h.

bool rtabmap::VWDictionary::_incrementalDictionary
private

Definition at line 110 of file VWDictionary.h.

bool rtabmap::VWDictionary::_incrementalFlann
private

Definition at line 111 of file VWDictionary.h.

int rtabmap::VWDictionary::_lastWordId
private

Definition at line 116 of file VWDictionary.h.

std::map<int ,int> rtabmap::VWDictionary::_mapIdIndex
private

Definition at line 122 of file VWDictionary.h.

std::map<int ,int> rtabmap::VWDictionary::_mapIndexId
private

Definition at line 121 of file VWDictionary.h.

bool rtabmap::VWDictionary::_newWordsComparedTogether
private

Definition at line 115 of file VWDictionary.h.

float rtabmap::VWDictionary::_nndrRatio
private

Definition at line 113 of file VWDictionary.h.

std::set<int> rtabmap::VWDictionary::_notIndexedWords
private

Definition at line 124 of file VWDictionary.h.

float rtabmap::VWDictionary::_rebalancingFactor
private

Definition at line 112 of file VWDictionary.h.

std::set<int> rtabmap::VWDictionary::_removedIndexedWords
private

Definition at line 125 of file VWDictionary.h.

NNStrategy rtabmap::VWDictionary::_strategy
private

Definition at line 120 of file VWDictionary.h.

int rtabmap::VWDictionary::_totalActiveReferences
protected

Definition at line 107 of file VWDictionary.h.

std::map<int, VisualWord*> rtabmap::VWDictionary::_unusedWords
private

Definition at line 123 of file VWDictionary.h.

std::map<int, VisualWord *> rtabmap::VWDictionary::_visualWords
protected

Definition at line 106 of file VWDictionary.h.

const int rtabmap::VWDictionary::ID_INVALID = 0
static

Definition at line 57 of file VWDictionary.h.

const int rtabmap::VWDictionary::ID_START = 1
static

Definition at line 56 of file VWDictionary.h.

bool rtabmap::VWDictionary::useDistanceL1_
private

Definition at line 117 of file VWDictionary.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:43