Graph.cpp File Reference

#include "rtabmap/core/Graph.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/GeodeticCoords.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_registration.h>
#include <pcl/search/kdtree.h>
#include <pcl/common/eigen.h>
#include <pcl/common/common.h>
#include <pcl/common/point_tests.h>
#include <set>
#include <queue>
#include <fstream>
#include <rtabmap/core/optimizer/OptimizerTORO.h>
#include <rtabmap/core/optimizer/OptimizerG2O.h>

Include dependency graph for Graph.cpp:

Go to the source code of this file.

Classes
struct	rtabmap::graph::errors
class	rtabmap::graph::Node
struct	rtabmap::graph::Order

Namespaces
	rtabmap
	rtabmap::graph

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

Functions
void RTABMAP_CORE_EXPORT	rtabmap::graph::calcKittiSequenceErrors (const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
void RTABMAP_CORE_EXPORT	rtabmap::graph::calcRelativeErrors (const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
Transform RTABMAP_CORE_EXPORT	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)
void RTABMAP_CORE_EXPORT	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, bool for3DoF=false)
void RTABMAP_CORE_EXPORT	rtabmap::graph::computeMinMax (const std::map< int, Transform > &poses, cv::Vec3f &min, cv::Vec3f &max)
std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT	rtabmap::graph::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_CORE_EXPORT	rtabmap::graph::computePath (const std::multimap< int, Link > &links, int from, int to, bool updateNewCosts=false, bool useSameCostForAllLinks=false)
std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT	rtabmap::graph::computePath (int fromId, int toId, const Memory *memory, bool lookInDatabase=true, bool updateNewCosts=false, float linearVelocity=0.0f, float angularVelocity=0.0f)
float RTABMAP_CORE_EXPORT	rtabmap::graph::computePathLength (const std::map< int, Transform > &path)
float RTABMAP_CORE_EXPORT	rtabmap::graph::computePathLength (const std::vector< std::pair< int, Transform > > &path, unsigned int fromIndex=0, unsigned int toIndex=0)
bool RTABMAP_CORE_EXPORT	rtabmap::graph::exportGPS (const std::string &filePath, const std::map< int, GPS > &gpsValues, unsigned int rgba=0xFFFFFFFF)
bool RTABMAP_CORE_EXPORT	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())
std::multimap< int, Link > RTABMAP_CORE_EXPORT	rtabmap::graph::filterDuplicateLinks (const std::multimap< int, Link > &links)
std::map< int, Link > RTABMAP_CORE_EXPORT	rtabmap::graph::filterLinks (const std::map< int, Link > &links, Link::Type filteredType, bool inverted=false)
std::multimap< int, Link > RTABMAP_CORE_EXPORT	rtabmap::graph::filterLinks (const std::multimap< int, Link > &links, Link::Type filteredType, bool inverted=false)
std::multimap< int, int >::const_iterator RTABMAP_CORE_EXPORT	rtabmap::graph::findLink (const std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
std::multimap< int, Link >::const_iterator RTABMAP_CORE_EXPORT	rtabmap::graph::findLink (const std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
std::multimap< int, std::pair< int, Link::Type > >::const_iterator RTABMAP_CORE_EXPORT	rtabmap::graph::findLink (const std::multimap< int, std::pair< int, Link::Type > > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
std::multimap< int, int >::iterator RTABMAP_CORE_EXPORT	rtabmap::graph::findLink (std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
std::multimap< int, Link >::iterator RTABMAP_CORE_EXPORT	rtabmap::graph::findLink (std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
std::multimap< int, std::pair< int, Link::Type > >::iterator RTABMAP_CORE_EXPORT	rtabmap::graph::findLink (std::multimap< int, std::pair< int, Link::Type > > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
std::list< Link > RTABMAP_CORE_EXPORT	rtabmap::graph::findLinks (const std::multimap< int, Link > &links, int from)
int RTABMAP_CORE_EXPORT	rtabmap::graph::findNearestNode (const std::map< int, rtabmap::Transform > &poses, const rtabmap::Transform &targetPose, float *distance=0)
RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT	rtabmap::graph::findNearestNodes (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose, int k)
std::map< int, float > RTABMAP_CORE_EXPORT	rtabmap::graph::findNearestNodes (const Transform &targetPose, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
std::map< int, float > RTABMAP_CORE_EXPORT	rtabmap::graph::findNearestNodes (int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
std::map< int, Transform > RTABMAP_CORE_EXPORT	rtabmap::graph::findNearestPoses (const Transform &targetPose, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
std::map< int, Transform > RTABMAP_CORE_EXPORT	rtabmap::graph::findNearestPoses (int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
std::map< int, Transform > RTABMAP_CORE_EXPORT	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)
std::vector< double > RTABMAP_CORE_EXPORT	rtabmap::graph::getMaxOdomInf (const std::multimap< int, Link > &links)
RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT	rtabmap::graph::getNodesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius)
RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT	rtabmap::graph::getNodesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius)
std::list< std::map< int, Transform > > RTABMAP_CORE_EXPORT	rtabmap::graph::getPaths (std::map< int, Transform > poses, const std::multimap< int, Link > &links)
RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT	rtabmap::graph::getPosesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT	rtabmap::graph::getPosesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
bool RTABMAP_CORE_EXPORT	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)
int32_t	rtabmap::graph::lastFrameFromSegmentLength (std::vector< float > &dist, int32_t first_frame, float len)
std::multimap< int, int > RTABMAP_CORE_EXPORT	rtabmap::graph::radiusPosesClustering (const std::map< int, Transform > &poses, float radius, float angle)
std::map< int, Transform > RTABMAP_CORE_EXPORT	rtabmap::graph::radiusPosesFiltering (const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true)
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)
float	rtabmap::graph::rotationError (const Transform &pose_error)
std::vector< float >	rtabmap::graph::trajectoryDistances (const std::vector< Transform > &poses)
float	rtabmap::graph::translationError (const Transform &pose_error)

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