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30 #include "rtabmap/core/rtabmap_core_export.h"
32 #include <pcl/point_types.h>
33 #include <opencv2/core/core.hpp>
34 #include <opencv2/features2d/features2d.hpp>
35 #include <opencv2/imgproc/imgproc.hpp>
57 const std::string & label = std::string(),
67 float compareTo(
const Signature & signature)
const;
68 bool isBadSignature()
const;
70 int id()
const {
return _id;}
71 int mapId()
const {
return _mapId;}
73 void setWeight(
int weight) {_modified=_weight!=weight;_weight = weight;}
76 void setLabel(
const std::string & label) {_modified=_label.compare(label)!=0;_label = label;}
77 const std::string &
getLabel()
const {
return _label;}
81 void addLinks(
const std::list<Link> & links);
82 void addLinks(
const std::map<int, Link> & links);
83 void addLink(
const Link & link);
87 void changeLinkIds(
int idFrom,
int idTo);
89 void removeLinks(
bool keepSelfReferringLinks =
false);
90 void removeLink(
int idTo);
91 void removeVirtualLinks();
93 void addLandmark(
const Link & landmark);
94 const std::map<int, Link> &
getLandmarks()
const {
return _landmarks;}
95 void removeLandmarks();
96 void removeLandmark(
int landmarkId);
99 void setModified(
bool modified) {_modified = modified; _linksModified = modified;}
101 const std::multimap<int, Link> &
getLinks()
const {
return _links;}
103 bool isModified()
const {
return _modified || _linksModified;}
107 void removeAllWords();
108 void changeWordsRef(
int oldWordId,
int activeWordId);
109 void setWords(
const std::multimap<int, int> & words,
const std::vector<cv::KeyPoint> & keypoints,
const std::vector<cv::Point3f> & words3,
const cv::Mat & descriptors);
112 const std::multimap<int, int> &
getWords()
const {
return _words;}
113 const std::vector<cv::KeyPoint> &
getWordsKpts()
const {
return _wordsKpts;}
117 void setWordsDescriptors(
const cv::Mat & descriptors);
122 void setVelocity(
float vx,
float vy,
float vz,
float vroll,
float vpitch,
float vyaw) {
123 _velocity = std::vector<float>(6,0);
132 const std::vector<cv::Point3f> &
getWords3()
const {
return _words3;}
134 cv::Mat getPoseCovariance()
const;
136 const std::vector<float> &
getVelocity()
const {
return _velocity;}
141 unsigned long getMemoryUsed(
bool withSensorData=
true)
const;
const std::map< int, int > & getWordsChanged() const
std::vector< cv::Point3f > _words3
const std::multimap< int, Link > & getLinks() const
const std::multimap< int, int > & getWords() const
const std::vector< cv::KeyPoint > & getWordsKpts() const
std::vector< float > _velocity
const cv::Mat & getWordsDescriptors() const
const Transform & getGroundTruthPose() const
Transform _groundTruthPose
const std::string & getLabel() const
void setSaved(bool saved)
int getInvalidWordsCount() const
void setGroundTruthPose(const Transform &pose)
void setEnabled(bool enabled)
StridedVectorType vy(make_vector(y, *n, std::abs(*incy)))
bool isLinksModified() const
const std::map< int, Link > & getLandmarks() const
void setPose(const Transform &pose)
const std::vector< cv::Point3f > & getWords3() const
std::multimap< int, Link > _links
cv::Mat _wordsDescriptors
void setLabel(const std::string &label)
std::map< int, Link > _landmarks
void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw)
std::vector< cv::KeyPoint > _wordsKpts
const Transform & getPose() const
void setWeight(int weight)
std::multimap< int, int > _words
const SensorData & sensorData() const
void setModified(bool modified)
SensorData & sensorData()
const std::vector< float > & getVelocity() const
std::map< int, int > _wordsChanged
StridedVectorType vx(make_vector(x, *n, std::abs(*incx)))
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:16