#include <Memory.h>

Public Member Functions
bool	addLink (const Link &link, bool addInDatabase=false)

bool	allNodesInWM () const

int	cleanup ()

int	cleanupLocalGrids (const std::map< int, Transform > &poses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)

void	close (bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")

Transform	computeIcpTransform (const Signature &fromS, const Signature &toS, Transform guess, RegistrationInfo *info=0) const

Transform	computeIcpTransformMulti (int newId, int oldId, const std::map< int, Transform > &poses, RegistrationInfo *info=0)

std::map< int, float >	computeLikelihood (const Signature *signature, const std::list< int > &ids)

Transform	computeTransform (int fromId, int toId, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false)

Transform	computeTransform (Signature &fromS, Signature &toS, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false) const

void	deleteLocation (int locationId, std::list< int > *deletedWords=0)

void	dumpDictionary (const char fileNameRef, const char fileNameDesc) const

virtual void	dumpMemory (std::string directory) const

void	dumpMemoryTree (const char *fileNameTree) const

virtual void	dumpSignatures (const char *fileNameSign, bool words3D) const

void	emptyTrash ()

std::list< int >	forget (const std::set< int > &ignoredIds=std::set< int >())

void	generateGraph (const std::string &fileName, const std::set< int > &ids=std::set< int >())

const std::map< int, std::string > &	getAllLabels () const

std::multimap< int, Link >	getAllLinks (bool lookInDatabase, bool ignoreNullLinks=true, bool withLandmarks=false) const

std::set< int >	getAllSignatureIds (bool ignoreChildren=true) const

int	getDatabaseMemoryUsed () const

std::string	getDatabaseUrl () const

std::string	getDatabaseVersion () const

double	getDbSavingTime () const

const Feature2D *	getFeature2D () const

void	getGPS (int id, GPS &gps, Transform &offsetENU, bool lookInDatabase, int maxGraphDepth=0) const

Transform	getGroundTruthPose (int signatureId, bool lookInDatabase=false) const

const std::map< int, Transform > &	getGroundTruths () const

cv::Mat	getImageCompressed (int signatureId) const

const std::map< int, std::set< int > > &	getLandmarksIndex () const

int	getLastGlobalLoopClosureId () const

int	getLastSignatureId () const

const Signature *	getLastWorkingSignature () const

std::multimap< int, Link >	getLinks (int signatureId, bool lookInDatabase=false, bool withLandmarks=false) const

std::multimap< int, Link >	getLoopClosureLinks (int signatureId, bool lookInDatabase=false) const

int	getMapId (int id, bool lookInDatabase=false) const

int	getMaxStMemSize () const

unsigned long	getMemoryUsed () const

void	getMetricConstraints (const std::set< int > &ids, std::map< int, Transform > &poses, std::multimap< int, Link > &links, bool lookInDatabase=false, bool landmarksAdded=false)

std::multimap< int, Link >	getNeighborLinks (int signatureId, bool lookInDatabase=false) const

std::map< int, int >	getNeighborsId (int signatureId, int maxGraphDepth, int maxCheckedInDatabase=-1, bool incrementMarginOnLoop=false, bool ignoreLoopIds=false, bool ignoreIntermediateNodes=false, bool ignoreLocalSpaceLoopIds=false, const std::set< int > &nodesSet=std::set< int >(), double *dbAccessTime=0) const

std::map< int, float >	getNeighborsIdRadius (int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) const

void	getNodeCalibration (int nodeId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const

SensorData	getNodeData (int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const

bool	getNodeInfo (int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors, bool lookInDatabase=false) const

std::map< int, Link >	getNodesObservingLandmark (int landmarkId, bool lookInDatabase) const

void	getNodeWordsAndGlobalDescriptors (int nodeId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &wordsKpts, std::vector< cv::Point3f > &words3, cv::Mat &wordsDescriptors, std::vector< GlobalDescriptor > &globalDescriptors) const

const std::vector< double > &	getOdomMaxInf () const

Transform	getOdomPose (int signatureId, bool lookInDatabase=false) const

virtual const ParametersMap &	getParameters () const

const Signature *	getSignature (int id) const

int	getSignatureIdByLabel (const std::string &label, bool lookInDatabase=true) const

float	getSimilarityThreshold () const

const std::set< int > &	getStMem () const

const VWDictionary *	getVWDictionary () const

std::map< int, int >	getWeights () const

const std::map< int, double > &	getWorkingMem () const

int	incrementMapId (std::map< int, int > *reducedIds=0)

bool	init (const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)

bool	isBinDataKept () const

bool	isGraphReduced () const

bool	isIDsGenerated () const

bool	isIncremental () const

bool	isInLTM (int signatureId) const

bool	isInSTM (int signatureId) const

bool	isInWM (int signatureId) const

bool	isLocalizationDataSaved () const

bool	isOdomGravityUsed () const

void	joinTrashThread ()

bool	labelSignature (int id, const std::string &label)

cv::Mat	load2DMap (float &xMin, float &yMin, float &cellSize) const

cv::Mat	loadOptimizedMesh (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > polygons=0, std::vector< std::vector< Eigen::Vector2f > > texCoords=0, cv::Mat *textures=0) const

std::map< int, Transform >	loadOptimizedPoses (Transform *lastlocalizationPose) const

cv::Mat	loadPreviewImage () const

	Memory (const ParametersMap &parameters=ParametersMap())

bool	memoryChanged () const

virtual void	parseParameters (const ParametersMap &parameters)

std::set< int >	reactivateSignatures (const std::list< int > &ids, unsigned int maxLoaded, double &timeDbAccess)

void	removeAllVirtualLinks ()

void	removeLink (int idA, int idB)

void	removeRawData (int id, bool image=true, bool scan=true, bool userData=true)

void	removeVirtualLinks (int signatureId)

void	save2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize) const

void	saveLocationData (int locationId)

void	saveOptimizedMesh (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const

void	saveOptimizedPoses (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const

void	savePreviewImage (const cv::Mat &image) const

void	saveStatistics (const Statistics &statistics, bool saveWMState)

bool	setUserData (int id, const cv::Mat &data)

bool	update (const SensorData &data, const Transform &pose, const cv::Mat &covariance, const std::vector< float > &velocity=std::vector< float >(), Statistics *stats=0)

bool	update (const SensorData &data, Statistics *stats=0)

void	updateAge (int signatureId)

void	updateLink (const Link &link, bool updateInDatabase=false)

virtual	~Memory ()

Static Public Attributes
static const int	kIdInvalid = 0

static const int	kIdStart = 0

static const int	kIdVirtual = -1

Protected Attributes
DBDriver *	_dbDriver

Private Member Functions
Signature *	_getSignature (int id) const

void	addSignatureToStm (Signature *signature, const cv::Mat &covariance)

void	addSignatureToWmFromLTM (Signature *signature)

void	cleanUnusedWords ()

void	clear ()

void	copyData (const Signature from, Signature to)

Signature *	createSignature (const SensorData &data, const Transform &pose, Statistics *stats=0)

void	disableWordsRef (int signatureId)

void	enableWordsRef (const std::list< int > &signatureIds)

int	getNextId ()

int	getNi (int signatureId) const

std::list< Signature * >	getRemovableSignatures (int count, const std::set< int > &ignoredIds=std::set< int >())

const std::map< int, Signature * > &	getSignatures () const

void	initCountId ()

void	loadDataFromDb (bool postInitClosingEvents)

void	moveSignatureToWMFromSTM (int id, int *reducedTo=0)

void	moveToTrash (Signature s, bool keepLinkedToGraph=true, std::list< int > deletedWords=0)

void	preUpdate ()

void	rehearsal (Signature signature, Statistics stats=0)

bool	rehearsalMerge (int oldId, int newId)

Private Attributes
bool	_allNodesInWM

bool	_badSignaturesIgnored

float	_badSignRatio

bool	_binDataKept

bool	_compressionParallelized

bool	_covOffDiagonalIgnored

bool	_createOccupancyGrid

bool	_depthAsMask

std::string	_depthCompressionFormat

bool	_detectMarkers

Feature2D *	_feature2D

bool	_generateIds

GlobalDescriptorExtractor *	_globalDescriptorExtractor

GPS	_gpsOrigin

std::map< int, Transform >	_groundTruths

int	_idCount

int	_idMapCount

bool	_idUpdatedToNewOneRehearsal

unsigned int	_imagePostDecimation

unsigned int	_imagePreDecimation

bool	_imagesAlreadyRectified

bool	_incrementalMemory

bool	_invertedReg

std::map< int, std::string >	_labels

std::map< int, std::set< int > >	_landmarksIndex

std::map< int, float >	_landmarksSize

float	_laserScanDownsampleStepSize

float	_laserScanGroundNormalsUp

int	_laserScanNormalK

float	_laserScanNormalRadius

float	_laserScanVoxelSize

int	_lastGlobalLoopClosureId

Signature *	_lastSignature

bool	_linksChanged

bool	_localBundleOnLoopClosure

bool	_localizationDataSaved

LocalGridMaker *	_localMapMaker

bool	_mapLabelsAdded

float	_markerAngVariance

MarkerDetector *	_markerDetector

float	_markerLinVariance

float	_maskFloorThreshold

int	_maxStMemSize

bool	_memoryChanged

bool	_notLinkedNodesKeptInDb

std::vector< double >	_odomMaxInf

bool	_parallelized

bool	_rawDescriptorsKept

float	_recentWmRatio

std::vector< CameraModel >	_rectCameraModels

bool	_rectifyOnlyFeatures

std::vector< StereoCameraModel >	_rectStereoCameraModels

bool	_reduceGraph

bool	_reextractLoopClosureFeatures

RegistrationIcp *	_registrationIcpMulti

Registration *	_registrationPipeline

RegistrationVis *	_registrationVis

float	_rehearsalMaxAngle

float	_rehearsalMaxDistance

bool	_rehearsalWeightIgnoredWhileMoving

std::string	_rgbCompressionFormat

bool	_rotateImagesUpsideUp

bool	_saveDepth16Format

bool	_saveIntermediateNodeData

std::map< int, Signature * >	_signatures

int	_signaturesAdded

float	_similarityThreshold

bool	_stereoFromMotion

std::set< int >	_stMem

bool	_tfIdfLikelihoodUsed

bool	_transferSortingByWeightId

bool	_useOdometryFeatures

bool	_useOdometryGravity

int	_visMaxFeatures

bool	_visSSC

VWDictionary *	_vwd

std::map< int, double >	_workingMem

ParametersMap	parameters_

Detailed Description

Definition at line 64 of file Memory.h.

Constructor & Destructor Documentation

◆ Memory()

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

Definition at line 74 of file Memory.cpp.

◆ ~Memory()

rtabmap::Memory::~Memory ( )

virtual

Definition at line 541 of file Memory.cpp.

Member Function Documentation

◆ _getSignature()

Signature * rtabmap::Memory::_getSignature ( int id ) const

private

Definition at line 1245 of file Memory.cpp.

◆ addLink()

bool rtabmap::Memory::addLink	(	const Link &	link,
		bool	addInDatabase = `false`
	)

Definition at line 3420 of file Memory.cpp.

◆ addSignatureToStm()

void rtabmap::Memory::addSignatureToStm	(	Signature *	signature,
		const cv::Mat &	covariance
	)

private

Definition at line 973 of file Memory.cpp.

◆ addSignatureToWmFromLTM()

void rtabmap::Memory::addSignatureToWmFromLTM ( Signature * signature )

private

Definition at line 1113 of file Memory.cpp.

◆ allNodesInWM()

bool rtabmap::Memory::allNodesInWM ( ) const

inline

Definition at line 170 of file Memory.h.

◆ cleanUnusedWords()

void rtabmap::Memory::cleanUnusedWords ( )

private

Definition at line 6259 of file Memory.cpp.

◆ cleanup()

int rtabmap::Memory::cleanup ( )

Definition at line 2100 of file Memory.cpp.

◆ cleanupLocalGrids()

int rtabmap::Memory::cleanupLocalGrids	(	const std::map< int, Transform > &	poses,
		const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize,
		int	cropRadius = `1`,
		bool	filterScans = `false`
	)

Definition at line 4238 of file Memory.cpp.

◆ clear()

void rtabmap::Memory::clear ( )

private

Definition at line 1761 of file Memory.cpp.

◆ close()

void rtabmap::Memory::close	(	bool	databaseSaved = `true`,
		bool	postInitClosingEvents = `false`,
		const std::string &	ouputDatabasePath = `""`
	)

Definition at line 484 of file Memory.cpp.

◆ computeIcpTransform()

Transform rtabmap::Memory::computeIcpTransform	(	const Signature &	fromS,
		const Signature &	toS,
		Transform	guess,
		RegistrationInfo *	info = `0`
	)		const

Definition at line 3205 of file Memory.cpp.

◆ computeIcpTransformMulti()

Transform rtabmap::Memory::computeIcpTransformMulti	(	int	newId,
		int	oldId,
		const std::map< int, Transform > &	poses,
		RegistrationInfo *	info = `0`
	)

Definition at line 3219 of file Memory.cpp.

◆ computeLikelihood()

std::map< int, float > rtabmap::Memory::computeLikelihood	(	const Signature *	signature,
		const std::list< int > &	ids
	)

Compute the likelihood of the signature with some others in the memory. Important: Assuming that all other ids are under 'signature' id. If an error occurs, the result is empty.

Definition at line 1888 of file Memory.cpp.

◆ computeTransform() [1/2]

Transform rtabmap::Memory::computeTransform	(	int	fromId,
		int	toId,
		Transform	guess,
		RegistrationInfo *	info = `0`,
		bool	useKnownCorrespondencesIfPossible = `false`
	)

Definition at line 2840 of file Memory.cpp.

◆ computeTransform() [2/2]

Transform rtabmap::Memory::computeTransform	(	Signature &	fromS,
		Signature &	toS,
		Transform	guess,
		RegistrationInfo *	info = `0`,
		bool	useKnownCorrespondencesIfPossible = `false`
	)		const

Definition at line 2869 of file Memory.cpp.

◆ copyData()

void rtabmap::Memory::copyData	(	const Signature *	from,
		Signature *	to
	)

private

Definition at line 4469 of file Memory.cpp.

◆ createSignature()

Signature * rtabmap::Memory::createSignature	(	const SensorData &	data,
		const Transform &	pose,
		Statistics *	stats = `0`
	)

private

Definition at line 4518 of file Memory.cpp.

◆ deleteLocation()

void rtabmap::Memory::deleteLocation	(	int	locationId,
		std::list< int > *	deletedWords = `0`
	)

Definition at line 2721 of file Memory.cpp.

◆ disableWordsRef()

void rtabmap::Memory::disableWordsRef ( int signatureId )

private

Definition at line 6237 of file Memory.cpp.

◆ dumpDictionary()

void rtabmap::Memory::dumpDictionary	(	const char *	fileNameRef,
		const char *	fileNameDesc
	)		const

Definition at line 3613 of file Memory.cpp.

◆ dumpMemory()

void rtabmap::Memory::dumpMemory ( std::string directory ) const

virtual

Definition at line 3604 of file Memory.cpp.

◆ dumpMemoryTree()

void rtabmap::Memory::dumpMemoryTree ( const char * fileNameTree ) const

Definition at line 3673 of file Memory.cpp.

◆ dumpSignatures()

void rtabmap::Memory::dumpSignatures	(	const char *	fileNameSign,
		bool	words3D
	)		const

virtual

Definition at line 3621 of file Memory.cpp.

◆ emptyTrash()

void rtabmap::Memory::emptyTrash ( )

Definition at line 2232 of file Memory.cpp.

◆ enableWordsRef()

void rtabmap::Memory::enableWordsRef ( const std::list< int > & signatureIds )

private

Definition at line 6282 of file Memory.cpp.

◆ forget()

std::list< int > rtabmap::Memory::forget ( const std::set< int > & ignoredIds = std::set<int>() )

Definition at line 2028 of file Memory.cpp.

◆ generateGraph()

void rtabmap::Memory::generateGraph	(	const std::string &	fileName,
		const std::set< int > &	ids = `std::set<int>()`
	)

Definition at line 4227 of file Memory.cpp.

◆ getAllLabels()

const std::map<int, std::string>& rtabmap::Memory::getAllLabels ( ) const

inline

Definition at line 168 of file Memory.h.

◆ getAllLinks()

std::multimap< int, Link > rtabmap::Memory::getAllLinks	(	bool	lookInDatabase,
		bool	ignoreNullLinks = `true`,
		bool	withLandmarks = `false`
	)		const

Definition at line 1395 of file Memory.cpp.

◆ getAllSignatureIds()

std::set< int > rtabmap::Memory::getAllSignatureIds ( bool ignoreChildren = true ) const

Definition at line 1747 of file Memory.cpp.

◆ getDatabaseMemoryUsed()

int rtabmap::Memory::getDatabaseMemoryUsed ( ) const

Definition at line 1711 of file Memory.cpp.

◆ getDatabaseUrl()

std::string rtabmap::Memory::getDatabaseUrl ( ) const

Definition at line 1732 of file Memory.cpp.

◆ getDatabaseVersion()

std::string rtabmap::Memory::getDatabaseVersion ( ) const

Definition at line 1722 of file Memory.cpp.

◆ getDbSavingTime()

double rtabmap::Memory::getDbSavingTime ( ) const

Definition at line 1742 of file Memory.cpp.

◆ getFeature2D()

const Feature2D* rtabmap::Memory::getFeature2D ( ) const

inline

Definition at line 221 of file Memory.h.

◆ getGPS()

void rtabmap::Memory::getGPS	(	int	id,
		GPS &	gps,
		Transform &	offsetENU,
		bool	lookInDatabase,
		int	maxGraphDepth = `0`
	)		const

Definition at line 4028 of file Memory.cpp.

◆ getGroundTruthPose()

Transform rtabmap::Memory::getGroundTruthPose	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 4015 of file Memory.cpp.

◆ getGroundTruths()

const std::map<int, Transform>& rtabmap::Memory::getGroundTruths ( ) const

inline

Definition at line 187 of file Memory.h.

◆ getImageCompressed()

cv::Mat rtabmap::Memory::getImageCompressed ( int signatureId ) const

Definition at line 4109 of file Memory.cpp.

◆ getLandmarksIndex()

const std::map<int, std::set<int> >& rtabmap::Memory::getLandmarksIndex ( ) const

inline

Definition at line 169 of file Memory.h.

◆ getLastGlobalLoopClosureId()

int rtabmap::Memory::getLastGlobalLoopClosureId ( ) const

inline

Definition at line 220 of file Memory.h.

◆ getLastSignatureId()

int rtabmap::Memory::getLastSignatureId ( ) const

Definition at line 2556 of file Memory.cpp.

◆ getLastWorkingSignature()

const Signature * rtabmap::Memory::getLastWorkingSignature ( ) const

Definition at line 2561 of file Memory.cpp.

◆ getLinks()

std::multimap< int, Link > rtabmap::Memory::getLinks	(	int	signatureId,
		bool	lookInDatabase = `false`,
		bool	withLandmarks = `false`
	)		const

Definition at line 1336 of file Memory.cpp.

◆ getLoopClosureLinks()

std::multimap< int, Link > rtabmap::Memory::getLoopClosureLinks	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 1296 of file Memory.cpp.

◆ getMapId()

int rtabmap::Memory::getMapId	(	int	id,
		bool	lookInDatabase = `false`
	)		const

Definition at line 3989 of file Memory.cpp.

◆ getMaxStMemSize()

int rtabmap::Memory::getMaxStMemSize ( ) const

inline

Definition at line 151 of file Memory.h.

◆ getMemoryUsed()

unsigned long rtabmap::Memory::getMemoryUsed ( ) const

Definition at line 3731 of file Memory.cpp.

◆ getMetricConstraints()

void rtabmap::Memory::getMetricConstraints	(	const std::set< int > &	ids,
		std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	links,
		bool	lookInDatabase = `false`,
		bool	landmarksAdded = `false`
	)

Definition at line 6475 of file Memory.cpp.

◆ getNeighborLinks()

std::multimap< int, Link > rtabmap::Memory::getNeighborLinks	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 1255 of file Memory.cpp.

◆ getNeighborsId()

std::map< int, int > rtabmap::Memory::getNeighborsId	(	int	signatureId,
		int	maxGraphDepth,
		int	maxCheckedInDatabase = `-1`,
		bool	incrementMarginOnLoop = `false`,
		bool	ignoreLoopIds = `false`,
		bool	ignoreIntermediateNodes = `false`,
		bool	ignoreLocalSpaceLoopIds = `false`,
		const std::set< int > &	nodesSet = `std::set<int>()`,
		double *	dbAccessTime = `0`
	)		const

Definition at line 1437 of file Memory.cpp.

◆ getNeighborsIdRadius()

std::map< int, float > rtabmap::Memory::getNeighborsIdRadius	(	int	signatureId,
		float	radius,
		const std::map< int, Transform > &	optimizedPoses,
		int	maxGraphDepth
	)		const

Definition at line 1614 of file Memory.cpp.

◆ getNextId()

int rtabmap::Memory::getNextId ( )

private

Definition at line 1674 of file Memory.cpp.

◆ getNi()

int rtabmap::Memory::getNi ( int signatureId ) const

private

Definition at line 4453 of file Memory.cpp.

◆ getNodeCalibration()

void rtabmap::Memory::getNodeCalibration	(	int	nodeId,
		std::vector< CameraModel > &	models,
		std::vector< StereoCameraModel > &	stereoModels
	)		const

Definition at line 4209 of file Memory.cpp.

◆ getNodeData()

SensorData rtabmap::Memory::getNodeData	(	int	locationId,
		bool	images,
		bool	scan,
		bool	userData,
		bool	occupancyGrid
	)		const

Definition at line 4126 of file Memory.cpp.

◆ getNodeInfo()

bool rtabmap::Memory::getNodeInfo	(	int	signatureId,
		Transform &	odomPose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		Transform &	groundTruth,
		std::vector< float > &	velocity,
		GPS &	gps,
		EnvSensors &	sensors,
		bool	lookInDatabase = `false`
	)		const

Definition at line 4076 of file Memory.cpp.

◆ getNodesObservingLandmark()

std::map< int, Link > rtabmap::Memory::getNodesObservingLandmark	(	int	landmarkId,
		bool	lookInDatabase
	)		const

Definition at line 2567 of file Memory.cpp.

◆ getNodeWordsAndGlobalDescriptors()

void rtabmap::Memory::getNodeWordsAndGlobalDescriptors	(	int	nodeId,
		std::multimap< int, int > &	words,
		std::vector< cv::KeyPoint > &	wordsKpts,
		std::vector< cv::Point3f > &	words3,
		cv::Mat &	wordsDescriptors,
		std::vector< GlobalDescriptor > &	globalDescriptors
	)		const

Definition at line 4164 of file Memory.cpp.

◆ getOdomMaxInf()

const std::vector<double>& rtabmap::Memory::getOdomMaxInf ( ) const

inline

Definition at line 223 of file Memory.h.

◆ getOdomPose()

Transform rtabmap::Memory::getOdomPose	(	int	signatureId,
		bool	lookInDatabase = `false`
	)		const

Definition at line 4002 of file Memory.cpp.

◆ getParameters()

virtual const ParametersMap& rtabmap::Memory::getParameters ( ) const

inlinevirtual

Definition at line 76 of file Memory.h.

◆ getRemovableSignatures()

std::list< Signature * > rtabmap::Memory::getRemovableSignatures	(	int	count,
		const std::set< int > &	ignoredIds = `std::set<int>()`
	)

private

Definition at line 2281 of file Memory.cpp.

◆ getSignature()

const Signature * rtabmap::Memory::getSignature ( int id ) const

Definition at line 1240 of file Memory.cpp.

◆ getSignatureIdByLabel()

int rtabmap::Memory::getSignatureIdByLabel	(	const std::string &	label,
		bool	lookInDatabase = `true`
	)		const

Definition at line 2597 of file Memory.cpp.

◆ getSignatures()

const std::map<int, Signature*>& rtabmap::Memory::getSignatures ( ) const

inlineprivate

Definition at line 279 of file Memory.h.

◆ getSimilarityThreshold()

float rtabmap::Memory::getSimilarityThreshold ( ) const

inline

Definition at line 161 of file Memory.h.

◆ getStMem()

const std::set<int>& rtabmap::Memory::getStMem ( ) const

inline

Definition at line 150 of file Memory.h.

◆ getVWDictionary()

const VWDictionary * rtabmap::Memory::getVWDictionary ( ) const

Definition at line 1250 of file Memory.cpp.

◆ getWeights()

std::map< int, int > rtabmap::Memory::getWeights ( ) const

Definition at line 2006 of file Memory.cpp.

◆ getWorkingMem()

const std::map<int, double>& rtabmap::Memory::getWorkingMem ( ) const

inline

Definition at line 149 of file Memory.h.

◆ incrementMapId()

int rtabmap::Memory::incrementMapId ( std::map< int, int > * reducedIds = 0 )

Definition at line 1679 of file Memory.cpp.

◆ init()

bool rtabmap::Memory::init	(	const std::string &	dbUrl,
		bool	dbOverwritten = `false`,
		const ParametersMap &	parameters = `ParametersMap()`,
		bool	postInitClosingEvents = `false`
	)

Definition at line 167 of file Memory.cpp.

◆ initCountId()

void rtabmap::Memory::initCountId ( )

private

◆ isBinDataKept()

bool rtabmap::Memory::isBinDataKept ( ) const

inline

Definition at line 160 of file Memory.h.

◆ isGraphReduced()

bool rtabmap::Memory::isGraphReduced ( ) const

inline

Definition at line 222 of file Memory.h.

◆ isIDsGenerated()

bool rtabmap::Memory::isIDsGenerated ( ) const

inline

Definition at line 219 of file Memory.h.

◆ isIncremental()

bool rtabmap::Memory::isIncremental ( ) const

inline

Definition at line 213 of file Memory.h.

◆ isInLTM()

bool rtabmap::Memory::isInLTM ( int signatureId ) const

inline

Definition at line 218 of file Memory.h.

◆ isInSTM()

bool rtabmap::Memory::isInSTM ( int signatureId ) const

inline

Definition at line 216 of file Memory.h.

◆ isInWM()

bool rtabmap::Memory::isInWM ( int signatureId ) const

inline

Definition at line 217 of file Memory.h.

◆ isLocalizationDataSaved()

bool rtabmap::Memory::isLocalizationDataSaved ( ) const

inline

Definition at line 214 of file Memory.h.

◆ isOdomGravityUsed()

bool rtabmap::Memory::isOdomGravityUsed ( ) const

inline

Definition at line 224 of file Memory.h.

◆ joinTrashThread()

void rtabmap::Memory::joinTrashThread ( )

Definition at line 2240 of file Memory.cpp.

◆ labelSignature()

bool rtabmap::Memory::labelSignature	(	int	id,
		const std::string &	label
	)

Definition at line 2628 of file Memory.cpp.

◆ load2DMap()

cv::Mat rtabmap::Memory::load2DMap	(	float &	xMin,
		float &	yMin,
		float &	cellSize
	)		const

Definition at line 2191 of file Memory.cpp.

◆ loadDataFromDb()

void rtabmap::Memory::loadDataFromDb ( bool postInitClosingEvents )

private

Definition at line 232 of file Memory.cpp.

◆ loadOptimizedMesh()

cv::Mat rtabmap::Memory::loadOptimizedMesh	(	std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *	polygons = `0`,
		std::vector< std::vector< Eigen::Vector2f > > *	texCoords = `0`,
		cv::Mat *	textures = `0`
	)		const

Definition at line 2216 of file Memory.cpp.

◆ loadOptimizedPoses()

std::map< int, Transform > rtabmap::Memory::loadOptimizedPoses ( Transform * lastlocalizationPose ) const

Definition at line 2151 of file Memory.cpp.

◆ loadPreviewImage()

cv::Mat rtabmap::Memory::loadPreviewImage ( ) const

Definition at line 2134 of file Memory.cpp.

◆ memoryChanged()

bool rtabmap::Memory::memoryChanged ( ) const

inline

Definition at line 212 of file Memory.h.

◆ moveSignatureToWMFromSTM()

void rtabmap::Memory::moveSignatureToWMFromSTM	(	int	id,
		int *	reducedTo = `0`
	)

private

Definition at line 1131 of file Memory.cpp.

◆ moveToTrash()

void rtabmap::Memory::moveToTrash	(	Signature *	s,
		bool	keepLinkedToGraph = `true`,
		std::list< int > *	deletedWords = `0`
	)

private

If saveToDatabase=false, deleted words are filled in deletedWords.

Definition at line 2412 of file Memory.cpp.

◆ parseParameters()

void rtabmap::Memory::parseParameters ( const ParametersMap & parameters )

virtual

Definition at line 557 of file Memory.cpp.

◆ preUpdate()

void rtabmap::Memory::preUpdate ( )

private

Definition at line 835 of file Memory.cpp.

◆ reactivateSignatures()

std::set< int > rtabmap::Memory::reactivateSignatures	(	const std::list< int > &	ids,
		unsigned int	maxLoaded,
		double &	timeDbAccess
	)

Definition at line 6394 of file Memory.cpp.

◆ rehearsal()

void rtabmap::Memory::rehearsal	(	Signature *	signature,
		Statistics *	stats = `0`
	)

private

Definition at line 3767 of file Memory.cpp.

◆ rehearsalMerge()

bool rtabmap::Memory::rehearsalMerge	(	int	oldId,
		int	newId
	)

private

Definition at line 3824 of file Memory.cpp.

◆ removeAllVirtualLinks()

void rtabmap::Memory::removeAllVirtualLinks ( )

Definition at line 3565 of file Memory.cpp.

◆ removeLink()

void rtabmap::Memory::removeLink	(	int	idA,
		int	idB
	)

Definition at line 2750 of file Memory.cpp.

◆ removeRawData()

void rtabmap::Memory::removeRawData	(	int	id,
		bool	image = `true`,
		bool	scan = `true`,
		bool	userData = `true`
	)

Definition at line 2826 of file Memory.cpp.

◆ removeVirtualLinks()

void rtabmap::Memory::removeVirtualLinks ( int signatureId )

Definition at line 3574 of file Memory.cpp.

◆ save2DMap()

void rtabmap::Memory::save2DMap	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize
	)		const

Definition at line 2183 of file Memory.cpp.

◆ saveLocationData()

void rtabmap::Memory::saveLocationData ( int locationId )

Definition at line 2731 of file Memory.cpp.

◆ saveOptimizedMesh()

void rtabmap::Memory::saveOptimizedMesh	(	const cv::Mat &	cloud,
		const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &	polygons = `std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >()`,
		const std::vector< std::vector< Eigen::Vector2f > > &	texCoords = `std::vector<std::vector<Eigen::Vector2f> >()`,
		const cv::Mat &	textures = `cv::Mat()`
	)		const

Definition at line 2200 of file Memory.cpp.

◆ saveOptimizedPoses()

void rtabmap::Memory::saveOptimizedPoses	(	const std::map< int, Transform > &	optimizedPoses,
		const Transform &	lastlocalizationPose
	)		const

Definition at line 2143 of file Memory.cpp.

◆ savePreviewImage()

void rtabmap::Memory::savePreviewImage ( const cv::Mat & image ) const

Definition at line 2127 of file Memory.cpp.

◆ saveStatistics()

void rtabmap::Memory::saveStatistics	(	const Statistics &	statistics,
		bool	saveWMState
	)

Definition at line 2119 of file Memory.cpp.

◆ setUserData()

bool rtabmap::Memory::setUserData	(	int	id,
		const cv::Mat &	data
	)

Set user data. Detect automatically if raw or compressed. If raw, the data is compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed. If you have one dimension unsigned 8 bits raw data, make sure to transpose it (to have multiple rows instead of multiple columns) in order to be detected as not compressed.

Definition at line 2706 of file Memory.cpp.

◆ update() [1/2]

bool rtabmap::Memory::update	(	const SensorData &	data,
		const Transform &	pose,
		const cv::Mat &	covariance,
		const std::vector< float > &	velocity = `std::vector<float>()`,
		Statistics *	stats = `0`
	)

Definition at line 856 of file Memory.cpp.

◆ update() [2/2]

bool rtabmap::Memory::update	(	const SensorData &	data,
		Statistics *	stats = `0`
	)

Definition at line 849 of file Memory.cpp.

◆ updateAge()

void rtabmap::Memory::updateAge ( int signatureId )

Definition at line 1702 of file Memory.cpp.

◆ updateLink()

void rtabmap::Memory::updateLink	(	const Link &	link,
		bool	updateInDatabase = `false`
	)

Definition at line 3505 of file Memory.cpp.

Member Data Documentation

◆ _allNodesInWM

bool rtabmap::Memory::_allNodesInWM

private

Definition at line 354 of file Memory.h.

◆ _badSignaturesIgnored

bool rtabmap::Memory::_badSignaturesIgnored

private

Definition at line 315 of file Memory.h.

◆ _badSignRatio

float rtabmap::Memory::_badSignRatio

private

Definition at line 371 of file Memory.h.

◆ _binDataKept

bool rtabmap::Memory::_binDataKept

private

Definition at line 300 of file Memory.h.

◆ _compressionParallelized

bool rtabmap::Memory::_compressionParallelized

private

Definition at line 322 of file Memory.h.

◆ _covOffDiagonalIgnored

bool rtabmap::Memory::_covOffDiagonalIgnored

private

Definition at line 342 of file Memory.h.

◆ _createOccupancyGrid

bool rtabmap::Memory::_createOccupancyGrid

private

Definition at line 337 of file Memory.h.

◆ _dbDriver

DBDriver* rtabmap::Memory::_dbDriver

protected

Definition at line 294 of file Memory.h.

◆ _depthAsMask

bool rtabmap::Memory::_depthAsMask

private

Definition at line 317 of file Memory.h.

◆ _depthCompressionFormat

std::string rtabmap::Memory::_depthCompressionFormat

private

Definition at line 306 of file Memory.h.

◆ _detectMarkers

bool rtabmap::Memory::_detectMarkers

private

Definition at line 343 of file Memory.h.

◆ _feature2D

Feature2D* rtabmap::Memory::_feature2D

private

Definition at line 370 of file Memory.h.

◆ _generateIds

bool rtabmap::Memory::_generateIds

private

Definition at line 314 of file Memory.h.

◆ _globalDescriptorExtractor

GlobalDescriptorExtractor* rtabmap::Memory::_globalDescriptorExtractor

private

Definition at line 383 of file Memory.h.

◆ _gpsOrigin

GPS rtabmap::Memory::_gpsOrigin

private

Definition at line 355 of file Memory.h.

◆ _groundTruths

std::map<int, Transform> rtabmap::Memory::_groundTruths

private

Definition at line 363 of file Memory.h.

◆ _idCount

int rtabmap::Memory::_idCount

private

Definition at line 347 of file Memory.h.

◆ _idMapCount

int rtabmap::Memory::_idMapCount

private

Definition at line 348 of file Memory.h.

◆ _idUpdatedToNewOneRehearsal

bool rtabmap::Memory::_idUpdatedToNewOneRehearsal

private

Definition at line 313 of file Memory.h.

◆ _imagePostDecimation

unsigned int rtabmap::Memory::_imagePostDecimation

private

Definition at line 321 of file Memory.h.

◆ _imagePreDecimation

unsigned int rtabmap::Memory::_imagePreDecimation

private

Definition at line 320 of file Memory.h.

◆ _imagesAlreadyRectified

bool rtabmap::Memory::_imagesAlreadyRectified

private

Definition at line 340 of file Memory.h.

◆ _incrementalMemory

bool rtabmap::Memory::_incrementalMemory

private

Definition at line 307 of file Memory.h.

◆ _invertedReg

bool rtabmap::Memory::_invertedReg

private

Definition at line 330 of file Memory.h.

◆ _labels

std::map<int, std::string> rtabmap::Memory::_labels

private

Definition at line 364 of file Memory.h.

◆ _landmarksIndex

std::map<int, std::set<int> > rtabmap::Memory::_landmarksIndex

private

Definition at line 365 of file Memory.h.

◆ _landmarksSize

std::map<int, float> rtabmap::Memory::_landmarksSize

private

Definition at line 366 of file Memory.h.

◆ _laserScanDownsampleStepSize

float rtabmap::Memory::_laserScanDownsampleStepSize

private

Definition at line 323 of file Memory.h.

◆ _laserScanGroundNormalsUp

float rtabmap::Memory::_laserScanGroundNormalsUp

private

Definition at line 327 of file Memory.h.

◆ _laserScanNormalK

int rtabmap::Memory::_laserScanNormalK

private

Definition at line 325 of file Memory.h.

◆ _laserScanNormalRadius

float rtabmap::Memory::_laserScanNormalRadius

private

Definition at line 326 of file Memory.h.

◆ _laserScanVoxelSize

float rtabmap::Memory::_laserScanVoxelSize

private

Definition at line 324 of file Memory.h.

◆ _lastGlobalLoopClosureId

int rtabmap::Memory::_lastGlobalLoopClosureId

private

Definition at line 350 of file Memory.h.

◆ _lastSignature

Signature* rtabmap::Memory::_lastSignature

private

Definition at line 349 of file Memory.h.

◆ _linksChanged

bool rtabmap::Memory::_linksChanged

private

Definition at line 352 of file Memory.h.

◆ _localBundleOnLoopClosure

bool rtabmap::Memory::_localBundleOnLoopClosure

private

Definition at line 329 of file Memory.h.

◆ _localizationDataSaved

bool rtabmap::Memory::_localizationDataSaved

private

Definition at line 308 of file Memory.h.

◆ _localMapMaker

LocalGridMaker* rtabmap::Memory::_localMapMaker

private

Definition at line 379 of file Memory.h.

◆ _mapLabelsAdded

bool rtabmap::Memory::_mapLabelsAdded

private

Definition at line 316 of file Memory.h.

◆ _markerAngVariance

float rtabmap::Memory::_markerAngVariance

private

Definition at line 345 of file Memory.h.

◆ _markerDetector

MarkerDetector* rtabmap::Memory::_markerDetector

private

Definition at line 381 of file Memory.h.

◆ _markerLinVariance

float rtabmap::Memory::_markerLinVariance

private

Definition at line 344 of file Memory.h.

◆ _maskFloorThreshold

float rtabmap::Memory::_maskFloorThreshold

private

Definition at line 318 of file Memory.h.

◆ _maxStMemSize

int rtabmap::Memory::_maxStMemSize

private

Definition at line 310 of file Memory.h.

◆ _memoryChanged

bool rtabmap::Memory::_memoryChanged

private

Definition at line 351 of file Memory.h.

◆ _notLinkedNodesKeptInDb

bool rtabmap::Memory::_notLinkedNodesKeptInDb

private

Definition at line 303 of file Memory.h.

◆ _odomMaxInf

std::vector<double> rtabmap::Memory::_odomMaxInf

private

Definition at line 358 of file Memory.h.

◆ _parallelized

bool rtabmap::Memory::_parallelized

private

Definition at line 373 of file Memory.h.

◆ _rawDescriptorsKept

bool rtabmap::Memory::_rawDescriptorsKept

private

Definition at line 301 of file Memory.h.

◆ _recentWmRatio

float rtabmap::Memory::_recentWmRatio

private

Definition at line 311 of file Memory.h.

◆ _rectCameraModels

std::vector<CameraModel> rtabmap::Memory::_rectCameraModels

private

Definition at line 356 of file Memory.h.

◆ _rectifyOnlyFeatures

bool rtabmap::Memory::_rectifyOnlyFeatures

private

Definition at line 341 of file Memory.h.

◆ _rectStereoCameraModels

std::vector<StereoCameraModel> rtabmap::Memory::_rectStereoCameraModels

private

Definition at line 357 of file Memory.h.

◆ _reduceGraph

bool rtabmap::Memory::_reduceGraph

private

Definition at line 309 of file Memory.h.

◆ _reextractLoopClosureFeatures

bool rtabmap::Memory::_reextractLoopClosureFeatures

private

Definition at line 328 of file Memory.h.

◆ _registrationIcpMulti

RegistrationIcp* rtabmap::Memory::_registrationIcpMulti

private

Definition at line 376 of file Memory.h.

◆ _registrationPipeline

Registration* rtabmap::Memory::_registrationPipeline

private

Definition at line 375 of file Memory.h.

◆ _registrationVis

RegistrationVis* rtabmap::Memory::_registrationVis

private

Definition at line 377 of file Memory.h.

◆ _rehearsalMaxAngle

float rtabmap::Memory::_rehearsalMaxAngle

private

Definition at line 332 of file Memory.h.

◆ _rehearsalMaxDistance

float rtabmap::Memory::_rehearsalMaxDistance

private

Definition at line 331 of file Memory.h.

◆ _rehearsalWeightIgnoredWhileMoving

bool rtabmap::Memory::_rehearsalWeightIgnoredWhileMoving

private

Definition at line 333 of file Memory.h.

◆ _rgbCompressionFormat

std::string rtabmap::Memory::_rgbCompressionFormat

private

Definition at line 305 of file Memory.h.

◆ _rotateImagesUpsideUp

bool rtabmap::Memory::_rotateImagesUpsideUp

private

Definition at line 336 of file Memory.h.

◆ _saveDepth16Format

bool rtabmap::Memory::_saveDepth16Format

private

Definition at line 302 of file Memory.h.

◆ _saveIntermediateNodeData

bool rtabmap::Memory::_saveIntermediateNodeData

private

Definition at line 304 of file Memory.h.

◆ _signatures

std::map<int, Signature *> rtabmap::Memory::_signatures

private

Definition at line 360 of file Memory.h.

◆ _signaturesAdded

int rtabmap::Memory::_signaturesAdded

private

Definition at line 353 of file Memory.h.

◆ _similarityThreshold

float rtabmap::Memory::_similarityThreshold

private

Definition at line 299 of file Memory.h.

◆ _stereoFromMotion

bool rtabmap::Memory::_stereoFromMotion

private

Definition at line 319 of file Memory.h.

◆ _stMem

std::set<int> rtabmap::Memory::_stMem

private

Definition at line 361 of file Memory.h.

◆ _tfIdfLikelihoodUsed

bool rtabmap::Memory::_tfIdfLikelihoodUsed

private

Definition at line 372 of file Memory.h.

◆ _transferSortingByWeightId

bool rtabmap::Memory::_transferSortingByWeightId

private

Definition at line 312 of file Memory.h.

◆ _useOdometryFeatures

bool rtabmap::Memory::_useOdometryFeatures

private

Definition at line 334 of file Memory.h.

◆ _useOdometryGravity

bool rtabmap::Memory::_useOdometryGravity

private

Definition at line 335 of file Memory.h.

◆ _visMaxFeatures

int rtabmap::Memory::_visMaxFeatures

private

Definition at line 338 of file Memory.h.

◆ _visSSC

bool rtabmap::Memory::_visSSC

private

Definition at line 339 of file Memory.h.

◆ _vwd

VWDictionary* rtabmap::Memory::_vwd

private

Definition at line 369 of file Memory.h.

◆ _workingMem

std::map<int, double> rtabmap::Memory::_workingMem

private

Definition at line 362 of file Memory.h.

◆ kIdInvalid

const int rtabmap::Memory::kIdInvalid = 0

static

Definition at line 69 of file Memory.h.

◆ kIdStart

const int rtabmap::Memory::kIdStart = 0

static

Definition at line 67 of file Memory.h.

◆ kIdVirtual

const int rtabmap::Memory::kIdVirtual = -1

static

Definition at line 68 of file Memory.h.

◆ parameters_

ParametersMap rtabmap::Memory::parameters_

private

Definition at line 298 of file Memory.h.

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

Public Member Functions

Static Public Attributes

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Memory()

◆ ~Memory()

Member Function Documentation

◆ _getSignature()

◆ addLink()

◆ addSignatureToStm()

◆ addSignatureToWmFromLTM()

◆ allNodesInWM()

◆ cleanUnusedWords()

◆ cleanup()

◆ cleanupLocalGrids()

◆ clear()

◆ close()

◆ computeIcpTransform()

◆ computeIcpTransformMulti()

◆ computeLikelihood()

◆ computeTransform() [1/2]

◆ computeTransform() [2/2]

◆ copyData()

◆ createSignature()

◆ deleteLocation()

◆ disableWordsRef()

◆ dumpDictionary()

◆ dumpMemory()

◆ dumpMemoryTree()

◆ dumpSignatures()

◆ emptyTrash()

◆ enableWordsRef()

◆ forget()

◆ generateGraph()

◆ getAllLabels()

◆ getAllLinks()

◆ getAllSignatureIds()

◆ getDatabaseMemoryUsed()

◆ getDatabaseUrl()

◆ getDatabaseVersion()

◆ getDbSavingTime()

◆ getFeature2D()

◆ getGPS()

◆ getGroundTruthPose()

◆ getGroundTruths()

◆ getImageCompressed()

◆ getLandmarksIndex()

◆ getLastGlobalLoopClosureId()

◆ getLastSignatureId()

◆ getLastWorkingSignature()

◆ getLinks()

◆ getLoopClosureLinks()

◆ getMapId()

◆ getMaxStMemSize()

◆ getMemoryUsed()

◆ getMetricConstraints()

◆ getNeighborLinks()

◆ getNeighborsId()

◆ getNeighborsIdRadius()

◆ getNextId()

◆ getNi()

◆ getNodeCalibration()

◆ getNodeData()

◆ getNodeInfo()

◆ getNodesObservingLandmark()

◆ getNodeWordsAndGlobalDescriptors()

◆ getOdomMaxInf()

◆ getOdomPose()

◆ getParameters()

◆ getRemovableSignatures()

◆ getSignature()

◆ getSignatureIdByLabel()

◆ getSignatures()

◆ getSimilarityThreshold()

◆ getStMem()

◆ getVWDictionary()

◆ getWeights()