_aggressiveLoopThr | rtabmap::Rtabmap | private |
_bayesFilter | rtabmap::Rtabmap | private |
_bufferedLogsF | rtabmap::Rtabmap | private |
_bufferedLogsI | rtabmap::Rtabmap | private |
_computeRMSE | rtabmap::Rtabmap | private |
_constraints | rtabmap::Rtabmap | private |
_createGlobalScanMap | rtabmap::Rtabmap | private |
_currentSessionHasGPS | rtabmap::Rtabmap | private |
_databasePath | rtabmap::Rtabmap | private |
_distanceTravelled | rtabmap::Rtabmap | private |
_distanceTravelledSinceLastLocalization | rtabmap::Rtabmap | private |
_epipolarGeometry | rtabmap::Rtabmap | private |
_forceOdom3doF | rtabmap::Rtabmap | private |
_foutFloat | rtabmap::Rtabmap | private |
_foutInt | rtabmap::Rtabmap | private |
_globalScanMap | rtabmap::Rtabmap | private |
_globalScanMapPoses | rtabmap::Rtabmap | private |
_goalReachedRadius | rtabmap::Rtabmap | private |
_goalsSavedInUserData | rtabmap::Rtabmap | private |
_gpsGeocentricCache | rtabmap::Rtabmap | private |
_graphOptimizer | rtabmap::Rtabmap | private |
_highestHypothesis | rtabmap::Rtabmap | private |
_lastLocalizationNodeId | rtabmap::Rtabmap | private |
_lastLocalizationPose | rtabmap::Rtabmap | private |
_lastProcessTime | rtabmap::Rtabmap | private |
_localImmunizationRatio | rtabmap::Rtabmap | private |
_localizationCovariance | rtabmap::Rtabmap | private |
_localizationPriorInf | rtabmap::Rtabmap | private |
_localizationSmoothing | rtabmap::Rtabmap | private |
_localRadius | rtabmap::Rtabmap | private |
_loopClosureHypothesis | rtabmap::Rtabmap | private |
_loopClosureIdentityGuess | rtabmap::Rtabmap | private |
_loopCovLimited | rtabmap::Rtabmap | private |
_loopGPS | rtabmap::Rtabmap | private |
_loopRatio | rtabmap::Rtabmap | private |
_loopThr | rtabmap::Rtabmap | private |
_mapCorrection | rtabmap::Rtabmap | private |
_mapCorrectionBackup | rtabmap::Rtabmap | private |
_markerPriors | rtabmap::Rtabmap | private |
_markerPriorsAngularVariance | rtabmap::Rtabmap | private |
_markerPriorsLinearVariance | rtabmap::Rtabmap | private |
_maxLocalRetrieved | rtabmap::Rtabmap | private |
_maxLoopClosureDistance | rtabmap::Rtabmap | private |
_maxMemoryAllowed | rtabmap::Rtabmap | private |
_maxOdomCacheSize | rtabmap::Rtabmap | private |
_maxRepublished | rtabmap::Rtabmap | private |
_maxRetrieved | rtabmap::Rtabmap | private |
_maxTimeAllowed | rtabmap::Rtabmap | private |
_memory | rtabmap::Rtabmap | private |
_neighborLinkRefining | rtabmap::Rtabmap | private |
_newMapOdomChangeDistance | rtabmap::Rtabmap | private |
_nodesToRepublish | rtabmap::Rtabmap | private |
_odomCacheConstraints | rtabmap::Rtabmap | private |
_odomCachePoses | rtabmap::Rtabmap | private |
_optimizationMaxError | rtabmap::Rtabmap | private |
_optimizedPoses | rtabmap::Rtabmap | private |
_optimizeFromGraphEnd | rtabmap::Rtabmap | private |
_optimizeFromGraphEndChanged | rtabmap::Rtabmap | private |
_parameters | rtabmap::Rtabmap | private |
_path | rtabmap::Rtabmap | private |
_pathAngularVelocity | rtabmap::Rtabmap | private |
_pathCurrentIndex | rtabmap::Rtabmap | private |
_pathGoalIndex | rtabmap::Rtabmap | private |
_pathLinearVelocity | rtabmap::Rtabmap | private |
_pathStatus | rtabmap::Rtabmap | private |
_pathStuckCount | rtabmap::Rtabmap | private |
_pathStuckDistance | rtabmap::Rtabmap | private |
_pathStuckIterations | rtabmap::Rtabmap | private |
_pathTransformToGoal | rtabmap::Rtabmap | private |
_pathUnreachableNodes | rtabmap::Rtabmap | private |
_proximityAngle | rtabmap::Rtabmap | private |
_proximityBySpace | rtabmap::Rtabmap | private |
_proximityByTime | rtabmap::Rtabmap | private |
_proximityFilteringRadius | rtabmap::Rtabmap | private |
_proximityMaxGraphDepth | rtabmap::Rtabmap | private |
_proximityMaxNeighbors | rtabmap::Rtabmap | private |
_proximityMaxPaths | rtabmap::Rtabmap | private |
_proximityMergedScanCovFactor | rtabmap::Rtabmap | private |
_proximityOdomGuess | rtabmap::Rtabmap | private |
_proximityRawPosesUsed | rtabmap::Rtabmap | private |
_publishLastSignatureData | rtabmap::Rtabmap | private |
_publishLikelihood | rtabmap::Rtabmap | private |
_publishPdf | rtabmap::Rtabmap | private |
_publishRAMUsage | rtabmap::Rtabmap | private |
_publishStats | rtabmap::Rtabmap | private |
_rawDataKept | rtabmap::Rtabmap | private |
_restartAtOrigin | rtabmap::Rtabmap | private |
_rgbdAngularSpeedUpdate | rtabmap::Rtabmap | private |
_rgbdAngularUpdate | rtabmap::Rtabmap | private |
_rgbdLinearSpeedUpdate | rtabmap::Rtabmap | private |
_rgbdLinearUpdate | rtabmap::Rtabmap | private |
_rgbdSlamMode | rtabmap::Rtabmap | private |
_saveWMState | rtabmap::Rtabmap | private |
_scanMatchingIdsSavedInLinks | rtabmap::Rtabmap | private |
_someNodesHaveBeenTransferred | rtabmap::Rtabmap | private |
_startNewMapOnGoodSignature | rtabmap::Rtabmap | private |
_startNewMapOnLoopClosure | rtabmap::Rtabmap | private |
_statisticLogged | rtabmap::Rtabmap | private |
_statisticLoggedHeaders | rtabmap::Rtabmap | private |
_statisticLogsBufferedInRAM | rtabmap::Rtabmap | private |
_verifyLoopClosureHypothesis | rtabmap::Rtabmap | private |
_virtualPlaceLikelihoodRatio | rtabmap::Rtabmap | private |
_wDir | rtabmap::Rtabmap | private |
addLink(const Link &link) | rtabmap::Rtabmap | |
addNodesToRepublish(const std::vector< int > &ids) | rtabmap::Rtabmap | |
adjustLikelihood(std::map< int, float > &likelihood) const | rtabmap::Rtabmap | |
cleanupLocalGrids(const std::map< int, Transform > &mapPoses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false) | rtabmap::Rtabmap | |
clearPath(int status) | rtabmap::Rtabmap | |
close(bool databaseSaved=true, const std::string &ouputDatabasePath="") | rtabmap::Rtabmap | |
computePath(int targetNode, bool global) | rtabmap::Rtabmap | |
computePath(const Transform &targetPose, float tolerance=-1.0f) | rtabmap::Rtabmap | |
computePath(int targetNode, std::map< int, Transform > nodes, const std::multimap< int, rtabmap::Link > &constraints) | rtabmap::Rtabmap | private |
createGlobalScanMap() | rtabmap::Rtabmap | private |
deleteLastLocation() | rtabmap::Rtabmap | |
detectMoreLoopClosures(float clusterRadiusMax=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, bool intraSession=true, bool interSession=true, const ProgressState *state=0, float clusterRadiusMin=0.0f) | rtabmap::Rtabmap | |
dumpData() const | rtabmap::Rtabmap | |
dumpPrediction() const | rtabmap::Rtabmap | |
exportPoses(const std::string &path, bool optimized, bool global, int format) | rtabmap::Rtabmap | |
flushStatisticLogs() | rtabmap::Rtabmap | private |
generateDOTGraph(const std::string &path, int id=0, int margin=5) | rtabmap::Rtabmap | |
get3DMap(std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) const | rtabmap::Rtabmap | |
getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const | rtabmap::Rtabmap | |
getGoalReachedRadius() const | rtabmap::Rtabmap | inline |
getGraph(std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0, bool withImages=false, bool withScan=false, bool withUserData=false, bool withGrid=false, bool withWords=true, bool withGlobalDescriptors=true) const | rtabmap::Rtabmap | |
getHighestHypothesisId() const | rtabmap::Rtabmap | inline |
getHighestHypothesisValue() const | rtabmap::Rtabmap | inline |
getInformation(const cv::Mat &covariance) const | rtabmap::Rtabmap | |
getLastLocalizationPose() const | rtabmap::Rtabmap | inline |
getLastLocationId() const | rtabmap::Rtabmap | |
getLastProcessTime() const | rtabmap::Rtabmap | inline |
getLocalConstraints() const | rtabmap::Rtabmap | inline |
getLocalOptimizedPoses() const | rtabmap::Rtabmap | inline |
getLocalRadius() const | rtabmap::Rtabmap | inline |
getLoopClosureId() const | rtabmap::Rtabmap | inline |
getLoopClosureValue() const | rtabmap::Rtabmap | inline |
getMapCorrection() const | rtabmap::Rtabmap | inline |
getMemory() const | rtabmap::Rtabmap | inline |
getMemoryThreshold() const | rtabmap::Rtabmap | inline |
getNodesInRadius(const Transform &pose, float radius, int k=0, std::map< int, float > *distsSqr=0) | rtabmap::Rtabmap | |
getNodesInRadius(int nodeId, float radius, int k=0, std::map< int, float > *distsSqr=0) | rtabmap::Rtabmap | |
getParameters() const | rtabmap::Rtabmap | inline |
getPath() const | rtabmap::Rtabmap | inline |
getPathCurrentGoalId() const | rtabmap::Rtabmap | |
getPathCurrentGoalIndex() const | rtabmap::Rtabmap | inline |
getPathCurrentIndex() const | rtabmap::Rtabmap | inline |
getPathNextNodes() const | rtabmap::Rtabmap | |
getPathNextPoses() const | rtabmap::Rtabmap | |
getPaths(const std::map< int, Transform > &poses, const Transform &target, int maxGraphDepth=0) const | rtabmap::Rtabmap | |
getPathStatus() const | rtabmap::Rtabmap | inline |
getPathTransformToGoal() const | rtabmap::Rtabmap | inline |
getPose(int locationId) const | rtabmap::Rtabmap | |
getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const | rtabmap::Rtabmap | |
getStatistics() const | rtabmap::Rtabmap | |
getSTM() const | rtabmap::Rtabmap | |
getSTMSize() const | rtabmap::Rtabmap | |
getTimeThreshold() const | rtabmap::Rtabmap | inline |
getTotalMemSize() const | rtabmap::Rtabmap | |
getWeights() const | rtabmap::Rtabmap | |
getWM() const | rtabmap::Rtabmap | |
getWMSize() const | rtabmap::Rtabmap | |
getWorkingDir() const | rtabmap::Rtabmap | inline |
globalBundleAdjustment(int optimizerType=1, bool rematchFeatures=true, int iterations=0, float pixelVariance=0.0f) | rtabmap::Rtabmap | |
init(const ParametersMap ¶meters, const std::string &databasePath="", bool loadDatabaseParameters=false) | rtabmap::Rtabmap | |
init(const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false) | rtabmap::Rtabmap | |
isIDsGenerated() const | rtabmap::Rtabmap | |
isInSTM(int locationId) const | rtabmap::Rtabmap | |
isRGBDMode() const | rtabmap::Rtabmap | inline |
kVhEpipolar enum value | rtabmap::Rtabmap | |
kVhNone enum value | rtabmap::Rtabmap | |
kVhUndef enum value | rtabmap::Rtabmap | |
labelLocation(int id, const std::string &label) | rtabmap::Rtabmap | |
optimizeCurrentMap(int id, bool lookInDatabase, std::map< int, Transform > &optimizedPoses, cv::Mat &covariance, std::multimap< int, Link > *constraints=0, double *error=0, int *iterationsDone=0) const | rtabmap::Rtabmap | private |
optimizeGraph(int fromId, const std::set< int > &ids, const std::map< int, Transform > &guessPoses, bool lookInDatabase, cv::Mat &covariance, std::multimap< int, Link > *constraints=0, double *error=0, int *iterationsDone=0) const | rtabmap::Rtabmap | private |
parseParameters(const ParametersMap ¶meters) | rtabmap::Rtabmap | |
process(const SensorData &data, Transform odomPose, const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >()) | rtabmap::Rtabmap | |
process(const SensorData &data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >()) | rtabmap::Rtabmap | |
process(const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >()) | rtabmap::Rtabmap | |
refineLinks() | rtabmap::Rtabmap | |
rejectLastLoopClosure() | rtabmap::Rtabmap | |
resetMemory() | rtabmap::Rtabmap | |
Rtabmap() | rtabmap::Rtabmap | |
selectHypothesis(const std::map< int, float > &posterior, const std::map< int, float > &likelihood) const | rtabmap::Rtabmap | |
setInitialPose(const Transform &initialPose) | rtabmap::Rtabmap | |
setMemoryThreshold(int maxMemoryAllowed) | rtabmap::Rtabmap | |
setOptimizedPoses(const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints) | rtabmap::Rtabmap | |
setTimeThreshold(float maxTimeAllowed) | rtabmap::Rtabmap | |
setupLogFiles(bool overwrite=false) | rtabmap::Rtabmap | private |
setUserData(int id, const cv::Mat &data) | rtabmap::Rtabmap | |
setWorkingDirectory(std::string path) | rtabmap::Rtabmap | |
statistics_ | rtabmap::Rtabmap | private |
triggerNewMap() | rtabmap::Rtabmap | |
updateGoalIndex() | rtabmap::Rtabmap | private |
VhStrategy enum name | rtabmap::Rtabmap | |
~Rtabmap() | rtabmap::Rtabmap | virtual |