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)

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)

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 >(), bool g2oRobust=false)

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)

std::map< int, Link > RTABMAP_EXP	filterLinks (const std::map< int, Link > &links, Link::Type filteredType)

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)

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

int RTABMAP_EXP	findNearestNode (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose)

std::vector< int > 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::map< int, float > RTABMAP_EXP	getNodesInRadius (int nodeId, 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)

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 1440 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 616 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 684 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 1450 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 1556 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 1658 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 2039 of file Graph.cpp.

float rtabmap::graph::computePathLength ( const std::map< int, Transform > & path )

Definition at line 2064 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 467 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>()`,
		bool	g2oRobust = `false`
	)

Definition at line 53 of file Graph.cpp.

std::multimap< int, Link > rtabmap::graph::filterDuplicateLinks ( const std::multimap< int, Link > & links )

Definition at line 952 of file Graph.cpp.

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

Definition at line 966 of file Graph.cpp.

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

Definition at line 981 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 825 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 857 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`
	)

Definition at line 888 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 920 of file Graph.cpp.

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

Definition at line 1870 of file Graph.cpp.

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

Definition at line 1883 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 996 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 1918 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 2088 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 1970 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 162 of file Graph.cpp.

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

Definition at line 594 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 1157 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 1045 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 1213 of file Graph.cpp.

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

inline

Definition at line 601 of file Graph.cpp.

std::vector<float> rtabmap::graph::trajectoryDistances ( const std::vector< Transform > & poses )

Definition at line 580 of file Graph.cpp.

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

inline

Definition at line 609 of file Graph.cpp.

Variable Documentation

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

Definition at line 567 of file Graph.cpp.

int32_t rtabmap::graph::num_lengths = 8

Definition at line 568 of file Graph.cpp.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation