#include <Rtabmap.h>

Public Types
enum	VhStrategy { kVhNone, kVhEpipolar, kVhUndef }

Public Member Functions
bool	addLink (const Link &link)

void	addNodesToRepublish (const std::vector< int > &ids)

void	adjustLikelihood (std::map< int, float > &likelihood) const

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

void	clearPath (int status)

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

bool	computePath (const Transform &targetPose, float tolerance=-1.0f)

bool	computePath (int targetNode, bool global)

void	deleteLastLocation ()

int	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)

void	dumpData () const

void	dumpPrediction () const

void	exportPoses (const std::string &path, bool optimized, bool global, int format)

void	generateDOTGraph (const std::string &path, int id=0, int margin=5)

RTABMAP_DEPRECATED void	get3DMap (std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) const

std::map< int, Transform >	getForwardWMPoses (int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const

float	getGoalReachedRadius () const

void	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

int	getHighestHypothesisId () const

float	getHighestHypothesisValue () const

cv::Mat	getInformation (const cv::Mat &covariance) const

const Transform &	getLastLocalizationPose () const

int	getLastLocationId () const

double	getLastProcessTime () const

const std::multimap< int, Link > &	getLocalConstraints () const

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

float	getLocalRadius () const

int	getLoopClosureId () const

float	getLoopClosureValue () const

Transform	getMapCorrection () const

const Memory *	getMemory () const

int	getMemoryThreshold () const

std::map< int, Transform >	getNodesInRadius (const Transform &pose, float radius, int k=0, std::map< int, float > *distsSqr=0)

std::map< int, Transform >	getNodesInRadius (int nodeId, float radius, int k=0, std::map< int, float > *distsSqr=0)

const ParametersMap &	getParameters () const

const std::vector< std::pair< int, Transform > > &	getPath () const

int	getPathCurrentGoalId () const

unsigned int	getPathCurrentGoalIndex () const

unsigned int	getPathCurrentIndex () const

std::vector< int >	getPathNextNodes () const

std::vector< std::pair< int, Transform > >	getPathNextPoses () const

std::map< int, std::map< int, Transform > >	getPaths (const std::map< int, Transform > &poses, const Transform &target, int maxGraphDepth=0) const

int	getPathStatus () const

const Transform &	getPathTransformToGoal () const

Transform	getPose (int locationId) const

Signature	getSignatureCopy (int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const

const Statistics &	getStatistics () const

std::set< int >	getSTM () const

int	getSTMSize () const

float	getTimeThreshold () const

int	getTotalMemSize () const

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

std::list< int >	getWM () const

int	getWMSize () const

const std::string &	getWorkingDir () const

bool	globalBundleAdjustment (int optimizerType=1, bool rematchFeatures=true, int iterations=0, float pixelVariance=0.0f)

void	init (const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false)

void	init (const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false)

bool	isIDsGenerated () const

bool	isInSTM (int locationId) const

bool	isRGBDMode () const

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

void	parseParameters (const ParametersMap &parameters)

bool	process (const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())

bool	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 >())
	Main loop of rtabmap. More...

bool	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 >())

int	refineLinks ()

void	rejectLastLoopClosure ()

void	resetMemory ()

	Rtabmap ()

std::pair< int, float >	selectHypothesis (const std::map< int, float > &posterior, const std::map< int, float > &likelihood) const

void	setInitialPose (const Transform &initialPose)

void	setMemoryThreshold (int maxMemoryAllowed)

void	setOptimizedPoses (const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints)

void	setTimeThreshold (float maxTimeAllowed)

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

void	setWorkingDirectory (std::string path)

int	triggerNewMap ()

virtual	~Rtabmap ()

Private Member Functions
bool	computePath (int targetNode, std::map< int, Transform > nodes, const std::multimap< int, rtabmap::Link > &constraints)

void	createGlobalScanMap ()

void	flushStatisticLogs ()

void	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

std::map< int, Transform >	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

void	setupLogFiles (bool overwrite=false)

void	updateGoalIndex ()

Private Attributes
float	_aggressiveLoopThr

BayesFilter *	_bayesFilter

std::list< std::string >	_bufferedLogsF

std::list< std::string >	_bufferedLogsI

bool	_computeRMSE

std::multimap< int, Link >	_constraints

bool	_createGlobalScanMap

bool	_currentSessionHasGPS

std::string	_databasePath

float	_distanceTravelled

float	_distanceTravelledSinceLastLocalization

EpipolarGeometry *	_epipolarGeometry

bool	_forceOdom3doF

FILE *	_foutFloat

FILE *	_foutInt

LaserScan	_globalScanMap

std::map< int, Transform >	_globalScanMapPoses

float	_goalReachedRadius

bool	_goalsSavedInUserData

std::map< int, std::pair< cv::Point3d, Transform > >	_gpsGeocentricCache

Optimizer *	_graphOptimizer

std::pair< int, float >	_highestHypothesis

int	_lastLocalizationNodeId

Transform	_lastLocalizationPose

double	_lastProcessTime

float	_localImmunizationRatio

cv::Mat	_localizationCovariance

double	_localizationPriorInf

bool	_localizationSmoothing

float	_localRadius

std::pair< int, float >	_loopClosureHypothesis

bool	_loopClosureIdentityGuess

bool	_loopCovLimited

bool	_loopGPS

float	_loopRatio

float	_loopThr

Transform	_mapCorrection

Transform	_mapCorrectionBackup

std::map< int, Transform >	_markerPriors

float	_markerPriorsAngularVariance

float	_markerPriorsLinearVariance

unsigned int	_maxLocalRetrieved

float	_maxLoopClosureDistance

unsigned int	_maxMemoryAllowed

int	_maxOdomCacheSize

unsigned int	_maxRepublished

unsigned int	_maxRetrieved

float	_maxTimeAllowed

Memory *	_memory

bool	_neighborLinkRefining

float	_newMapOdomChangeDistance

std::set< int >	_nodesToRepublish

std::multimap< int, Link >	_odomCacheConstraints

std::map< int, Transform >	_odomCachePoses

float	_optimizationMaxError

std::map< int, Transform >	_optimizedPoses

bool	_optimizeFromGraphEnd

bool	_optimizeFromGraphEndChanged

ParametersMap	_parameters

std::vector< std::pair< int, Transform > >	_path

float	_pathAngularVelocity

unsigned int	_pathCurrentIndex

unsigned int	_pathGoalIndex

float	_pathLinearVelocity

int	_pathStatus

int	_pathStuckCount

float	_pathStuckDistance

int	_pathStuckIterations

Transform	_pathTransformToGoal

std::set< unsigned int >	_pathUnreachableNodes

float	_proximityAngle

bool	_proximityBySpace

bool	_proximityByTime

float	_proximityFilteringRadius

int	_proximityMaxGraphDepth

int	_proximityMaxNeighbors

int	_proximityMaxPaths

double	_proximityMergedScanCovFactor

bool	_proximityOdomGuess

bool	_proximityRawPosesUsed

bool	_publishLastSignatureData

bool	_publishLikelihood

bool	_publishPdf

bool	_publishRAMUsage

bool	_publishStats

bool	_rawDataKept

bool	_restartAtOrigin

float	_rgbdAngularSpeedUpdate

float	_rgbdAngularUpdate

float	_rgbdLinearSpeedUpdate

float	_rgbdLinearUpdate

bool	_rgbdSlamMode

bool	_saveWMState

bool	_scanMatchingIdsSavedInLinks

bool	_someNodesHaveBeenTransferred

bool	_startNewMapOnGoodSignature

bool	_startNewMapOnLoopClosure

bool	_statisticLogged

bool	_statisticLoggedHeaders

bool	_statisticLogsBufferedInRAM

bool	_verifyLoopClosureHypothesis

int	_virtualPlaceLikelihoodRatio

std::string	_wDir

Statistics	statistics_

Detailed Description

Definition at line 54 of file Rtabmap.h.

Member Enumeration Documentation

◆ VhStrategy

enum rtabmap::Rtabmap::VhStrategy

Enumerator
kVhNone
kVhEpipolar
kVhUndef

Definition at line 57 of file Rtabmap.h.

Constructor & Destructor Documentation

◆ Rtabmap()

rtabmap::Rtabmap::Rtabmap ( )

Definition at line 94 of file Rtabmap.cpp.

◆ ~Rtabmap()

rtabmap::Rtabmap::~Rtabmap ( )

virtual

Definition at line 187 of file Rtabmap.cpp.

Member Function Documentation

◆ addLink()

bool rtabmap::Rtabmap::addLink ( const Link & link )

Definition at line 6057 of file Rtabmap.cpp.

◆ addNodesToRepublish()

void rtabmap::Rtabmap::addNodesToRepublish ( const std::vector< int > & ids )

Definition at line 6460 of file Rtabmap.cpp.

◆ adjustLikelihood()

void rtabmap::Rtabmap::adjustLikelihood ( std::map< int, float > & likelihood ) const

Definition at line 5260 of file Rtabmap.cpp.

◆ cleanupLocalGrids()

int 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`
	)

Definition at line 5988 of file Rtabmap.cpp.

◆ clearPath()

void rtabmap::Rtabmap::clearPath ( int status )

Definition at line 6480 of file Rtabmap.cpp.

◆ close()

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

Close rtabmap. This will delete rtabmap object if set.

Parameters

databaseSaved	true=database saved, false=database discarded.
databasePath	output database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).

Definition at line 463 of file Rtabmap.cpp.

◆ computePath() [1/3]

bool rtabmap::Rtabmap::computePath	(	const Transform &	targetPose,
		float	tolerance = `-1.0f`
	)

Definition at line 6643 of file Rtabmap.cpp.

◆ computePath() [2/3]

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		bool	global
	)

Definition at line 6498 of file Rtabmap.cpp.

◆ computePath() [3/3]

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		std::map< int, Transform >	nodes,
		const std::multimap< int, rtabmap::Link > &	constraints
	)

private

◆ createGlobalScanMap()

void rtabmap::Rtabmap::createGlobalScanMap ( )

private

Definition at line 7095 of file Rtabmap.cpp.

◆ deleteLastLocation()

void rtabmap::Rtabmap::deleteLastLocation ( )

Definition at line 4849 of file Rtabmap.cpp.

◆ detectMoreLoopClosures()

int 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`
	)

Definition at line 5595 of file Rtabmap.cpp.

◆ dumpData()

void rtabmap::Rtabmap::dumpData ( ) const

Definition at line 4905 of file Rtabmap.cpp.

◆ dumpPrediction()

void rtabmap::Rtabmap::dumpPrediction ( ) const

Definition at line 5331 of file Rtabmap.cpp.

◆ exportPoses()

void rtabmap::Rtabmap::exportPoses	(	const std::string &	path,
		bool	optimized,
		bool	global,
		int	format
	)

Definition at line 1024 of file Rtabmap.cpp.

◆ flushStatisticLogs()

void rtabmap::Rtabmap::flushStatisticLogs ( )

private

Definition at line 298 of file Rtabmap.cpp.

◆ generateDOTGraph()

void rtabmap::Rtabmap::generateDOTGraph	(	const std::string &	path,
		int	id = `0`,
		int	margin = `5`
	)

Definition at line 992 of file Rtabmap.cpp.

◆ get3DMap()

void rtabmap::Rtabmap::get3DMap	(	std::map< int, Signature > &	signatures,
		std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	constraints,
		bool	optimized,
		bool	global
	)		const

Definition at line 5468 of file Rtabmap.cpp.

◆ getForwardWMPoses()

std::map< int, Transform > rtabmap::Rtabmap::getForwardWMPoses	(	int	fromId,
		int	maxNearestNeighbors,
		float	radius,
		int	maxDiffID
	)		const

Definition at line 4923 of file Rtabmap.cpp.

◆ getGoalReachedRadius()

float rtabmap::Rtabmap::getGoalReachedRadius ( ) const

inline

Definition at line 148 of file Rtabmap.h.

◆ getGraph()

void rtabmap::Rtabmap::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

Definition at line 5479 of file Rtabmap.cpp.

◆ getHighestHypothesisId()

int rtabmap::Rtabmap::getHighestHypothesisId ( ) const

inline

Definition at line 130 of file Rtabmap.h.

◆ getHighestHypothesisValue()

float rtabmap::Rtabmap::getHighestHypothesisValue ( ) const

inline

Definition at line 131 of file Rtabmap.h.

◆ getInformation()

cv::Mat rtabmap::Rtabmap::getInformation ( const cv::Mat & covariance ) const

Definition at line 6440 of file Rtabmap.cpp.

◆ getLastLocalizationPose()

const Transform& rtabmap::Rtabmap::getLastLocalizationPose ( ) const

inline

Definition at line 150 of file Rtabmap.h.

◆ getLastLocationId()

int rtabmap::Rtabmap::getLastLocationId ( ) const

Definition at line 759 of file Rtabmap.cpp.

◆ getLastProcessTime()

double rtabmap::Rtabmap::getLastProcessTime ( ) const

inline

Definition at line 139 of file Rtabmap.h.

◆ getLocalConstraints()

const std::multimap<int, Link>& rtabmap::Rtabmap::getLocalConstraints ( ) const

inline

Definition at line 144 of file Rtabmap.h.

◆ getLocalOptimizedPoses()

const std::map<int, Transform>& rtabmap::Rtabmap::getLocalOptimizedPoses ( ) const

inline

Definition at line 143 of file Rtabmap.h.

◆ getLocalRadius()

float rtabmap::Rtabmap::getLocalRadius ( ) const

inline

Definition at line 149 of file Rtabmap.h.

◆ getLoopClosureId()

int rtabmap::Rtabmap::getLoopClosureId ( ) const

inline

Definition at line 128 of file Rtabmap.h.

◆ getLoopClosureValue()

float rtabmap::Rtabmap::getLoopClosureValue ( ) const

inline

Definition at line 129 of file Rtabmap.h.

◆ getMapCorrection()

Transform rtabmap::Rtabmap::getMapCorrection ( ) const

inline

Definition at line 146 of file Rtabmap.h.

◆ getMemory()

const Memory* rtabmap::Rtabmap::getMemory ( ) const

inline

Definition at line 147 of file Rtabmap.h.

◆ getMemoryThreshold()

int rtabmap::Rtabmap::getMemoryThreshold ( ) const

inline

Definition at line 154 of file Rtabmap.h.

◆ getNodesInRadius() [1/2]

std::map< int, Transform > rtabmap::Rtabmap::getNodesInRadius	(	const Transform &	pose,
		float	radius,
		int	k = `0`,
		std::map< int, float > *	distsSqr = `0`
	)

Definition at line 5551 of file Rtabmap.cpp.

◆ getNodesInRadius() [2/2]

std::map< int, Transform > rtabmap::Rtabmap::getNodesInRadius	(	int	nodeId,
		float	radius,
		int	k = `0`,
		std::map< int, float > *	distsSqr = `0`
	)

Definition at line 5564 of file Rtabmap.cpp.

◆ getParameters()

const ParametersMap& rtabmap::Rtabmap::getParameters ( ) const

inline

Definition at line 179 of file Rtabmap.h.

◆ getPath()

const std::vector<std::pair<int, Transform> >& rtabmap::Rtabmap::getPath ( ) const

inline

Definition at line 235 of file Rtabmap.h.

◆ getPathCurrentGoalId()

int rtabmap::Rtabmap::getPathCurrentGoalId ( ) const

Definition at line 6822 of file Rtabmap.cpp.

◆ getPathCurrentGoalIndex()

unsigned int rtabmap::Rtabmap::getPathCurrentGoalIndex ( ) const

inline

Definition at line 240 of file Rtabmap.h.

◆ getPathCurrentIndex()

unsigned int rtabmap::Rtabmap::getPathCurrentIndex ( ) const

inline

Definition at line 239 of file Rtabmap.h.

◆ getPathNextNodes()

std::vector< int > rtabmap::Rtabmap::getPathNextNodes ( ) const

Definition at line 6797 of file Rtabmap.cpp.

◆ getPathNextPoses()

std::vector< std::pair< int, Transform > > rtabmap::Rtabmap::getPathNextPoses ( ) const

Definition at line 6772 of file Rtabmap.cpp.

◆ getPaths()

std::map< int, std::map< int, Transform > > rtabmap::Rtabmap::getPaths	(	const std::map< int, Transform > &	poses,
		const Transform &	target,
		int	maxGraphDepth = `0`
	)		const

Definition at line 5039 of file Rtabmap.cpp.

◆ getPathStatus()

int rtabmap::Rtabmap::getPathStatus ( ) const

inline

Definition at line 231 of file Rtabmap.h.

◆ getPathTransformToGoal()

const Transform& rtabmap::Rtabmap::getPathTransformToGoal ( ) const

inline

Definition at line 241 of file Rtabmap.h.

◆ getPose()

Transform rtabmap::Rtabmap::getPose ( int locationId ) const

Definition at line 854 of file Rtabmap.cpp.

◆ getSignatureCopy()

Signature rtabmap::Rtabmap::getSignatureCopy	(	int	id,
		bool	images,
		bool	scan,
		bool	userData,
		bool	occupancyGrid,
		bool	withWords,
		bool	withGlobalDescriptors
	)		const

Definition at line 5389 of file Rtabmap.cpp.

◆ getStatistics()

const Statistics & rtabmap::Rtabmap::getStatistics ( ) const

Definition at line 849 of file Rtabmap.cpp.

◆ getSTM()

std::set< int > rtabmap::Rtabmap::getSTM ( ) const

Definition at line 800 of file Rtabmap.cpp.

◆ getSTMSize()

int rtabmap::Rtabmap::getSTMSize ( ) const

Definition at line 809 of file Rtabmap.cpp.

◆ getTimeThreshold()

float rtabmap::Rtabmap::getTimeThreshold ( ) const

inline

Definition at line 152 of file Rtabmap.h.

◆ getTotalMemSize()

int rtabmap::Rtabmap::getTotalMemSize ( ) const

Definition at line 818 of file Rtabmap.cpp.

◆ getWeights()

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

Definition at line 789 of file Rtabmap.cpp.

◆ getWM()

std::list< int > rtabmap::Rtabmap::getWM ( ) const

Definition at line 769 of file Rtabmap.cpp.

◆ getWMSize()

int rtabmap::Rtabmap::getWMSize ( ) const

Definition at line 780 of file Rtabmap.cpp.

◆ getWorkingDir()

const std::string& rtabmap::Rtabmap::getWorkingDir ( ) const

inline

Definition at line 126 of file Rtabmap.h.

◆ globalBundleAdjustment()

bool rtabmap::Rtabmap::globalBundleAdjustment	(	int	optimizerType = `1`,
		bool	rematchFeatures = `true`,
		int	iterations = `0`,
		float	pixelVariance = `0.0f`
	)

Definition at line 5929 of file Rtabmap.cpp.

◆ init() [1/2]

void rtabmap::Rtabmap::init	(	const ParametersMap &	parameters,
		const std::string &	databasePath = `""`,
		bool	loadDatabaseParameters = `false`
	)

Initialize Rtabmap with parameters and a database

Parameters

parameters Parameters overriding default parameters and database parameters (

See also: loadDatabaseParameters)

Parameters

databasePath	The database input/output path. If not set, an empty database is used in RAM. If set and the file doesn't exist, it will be created empty. If the database exists, nodes and vocabulary will be loaded in working memory.
loadDatabaseParameters	If an existing database is used (

See also: databasePath), the parameters inside are loaded and set to current Rtabmap instance.

Definition at line 320 of file Rtabmap.cpp.

◆ init() [2/2]

void rtabmap::Rtabmap::init	(	const std::string &	configFile = `""`,
		const std::string &	databasePath = `""`,
		bool	loadDatabaseParameters = `false`
	)

Initialize Rtabmap with parameters from a configuration file and a database

Parameters

configFile Configuration file (*.ini) overriding default parameters and database parameters (

See also: loadDatabaseParameters)

Parameters

databasePath	The database input/output path. If not set, an empty database is used in RAM. If set and the file doesn't exist, it will be created empty. If the database exists, nodes and vocabulary will be loaded in working memory.
loadDatabaseParameters	If an existing database is used (

See also: databasePath), the parameters inside are loaded and set to current Rtabmap instance.

Definition at line 449 of file Rtabmap.cpp.

◆ isIDsGenerated()

bool rtabmap::Rtabmap::isIDsGenerated ( ) const

Definition at line 840 of file Rtabmap.cpp.

◆ isInSTM()

bool rtabmap::Rtabmap::isInSTM ( int locationId ) const

Definition at line 831 of file Rtabmap.cpp.

◆ isRGBDMode()

bool rtabmap::Rtabmap::isRGBDMode ( ) const

inline

Definition at line 127 of file Rtabmap.h.

◆ labelLocation()

bool rtabmap::Rtabmap::labelLocation	(	int	id,
		const std::string &	label
	)

Definition at line 936 of file Rtabmap.cpp.

◆ optimizeCurrentMap()

void 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

private

Definition at line 5121 of file Rtabmap.cpp.

◆ optimizeGraph()

std::map< int, Transform > rtabmap::Rtabmap::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

private

Definition at line 5167 of file Rtabmap.cpp.

◆ parseParameters()

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

Definition at line 545 of file Rtabmap.cpp.

◆ process() [1/3]

bool rtabmap::Rtabmap::process	(	const cv::Mat &	image,
		int	id = `0`,
		const std::map< std::string, float > &	externalStats = `std::map<std::string, float>()`
	)

Definition at line 1148 of file Rtabmap.cpp.

◆ process() [2/3]

bool 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>()`
	)

Main loop of rtabmap.

Parameters

data	Sensor data to process.
odomPose	Odometry pose, should be non-null for RGB-D SLAM mode.
covariance	Odometry covariance.
externalStats	External statistics to be saved in the database for convenience

Returns: true if data has been added to map.

Definition at line 1177 of file Rtabmap.cpp.

◆ process() [3/3]

bool 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>()`
	)

Definition at line 1155 of file Rtabmap.cpp.

◆ refineLinks()

int rtabmap::Rtabmap::refineLinks ( )

Definition at line 6011 of file Rtabmap.cpp.

◆ rejectLastLoopClosure()

void rtabmap::Rtabmap::rejectLastLoopClosure ( )

Definition at line 4791 of file Rtabmap.cpp.

◆ resetMemory()

void rtabmap::Rtabmap::resetMemory ( )

Definition at line 1063 of file Rtabmap.cpp.

◆ selectHypothesis()

std::pair<int, float> rtabmap::Rtabmap::selectHypothesis	(	const std::map< int, float > &	posterior,
		const std::map< int, float > &	likelihood
	)		const

◆ setInitialPose()

void rtabmap::Rtabmap::setInitialPose ( const Transform & initialPose )

Definition at line 859 of file Rtabmap.cpp.

◆ setMemoryThreshold()

void rtabmap::Rtabmap::setMemoryThreshold ( int maxMemoryAllowed )

Definition at line 4752 of file Rtabmap.cpp.

◆ setOptimizedPoses()

void rtabmap::Rtabmap::setOptimizedPoses	(	const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints
	)

Definition at line 4899 of file Rtabmap.cpp.

◆ setTimeThreshold()

void rtabmap::Rtabmap::setTimeThreshold ( float maxTimeAllowed )

Definition at line 4738 of file Rtabmap.cpp.

◆ setupLogFiles()

void rtabmap::Rtabmap::setupLogFiles ( bool overwrite = false )

private

Definition at line 192 of file Rtabmap.cpp.

◆ setUserData()

bool rtabmap::Rtabmap::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 972 of file Rtabmap.cpp.

◆ setWorkingDirectory()

void rtabmap::Rtabmap::setWorkingDirectory ( std::string path )

Definition at line 4763 of file Rtabmap.cpp.

◆ triggerNewMap()

int rtabmap::Rtabmap::triggerNewMap ( )

Definition at line 887 of file Rtabmap.cpp.

◆ updateGoalIndex()

void rtabmap::Rtabmap::updateGoalIndex ( )

private

Definition at line 6832 of file Rtabmap.cpp.

Member Data Documentation

◆ _aggressiveLoopThr

float rtabmap::Rtabmap::_aggressiveLoopThr

private

Definition at line 287 of file Rtabmap.h.

◆ _bayesFilter

BayesFilter* rtabmap::Rtabmap::_bayesFilter

private

Definition at line 351 of file Rtabmap.h.

◆ _bufferedLogsF

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsF

private

Definition at line 359 of file Rtabmap.h.

◆ _bufferedLogsI

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsI

private

Definition at line 360 of file Rtabmap.h.

◆ _computeRMSE

bool rtabmap::Rtabmap::_computeRMSE

private

Definition at line 281 of file Rtabmap.h.

◆ _constraints

std::multimap<int, Link> rtabmap::Rtabmap::_constraints

private

Definition at line 367 of file Rtabmap.h.

◆ _createGlobalScanMap

bool rtabmap::Rtabmap::_createGlobalScanMap

private

Definition at line 336 of file Rtabmap.h.

◆ _currentSessionHasGPS

bool rtabmap::Rtabmap::_currentSessionHasGPS

private

Definition at line 374 of file Rtabmap.h.

◆ _databasePath

std::string rtabmap::Rtabmap::_databasePath

private

Definition at line 319 of file Rtabmap.h.

◆ _distanceTravelled

float rtabmap::Rtabmap::_distanceTravelled

private

Definition at line 344 of file Rtabmap.h.

◆ _distanceTravelledSinceLastLocalization

float rtabmap::Rtabmap::_distanceTravelledSinceLastLocalization

private

Definition at line 345 of file Rtabmap.h.

◆ _epipolarGeometry

EpipolarGeometry* rtabmap::Rtabmap::_epipolarGeometry

private

Definition at line 350 of file Rtabmap.h.

◆ _forceOdom3doF

bool rtabmap::Rtabmap::_forceOdom3doF

private

Definition at line 329 of file Rtabmap.h.

◆ _foutFloat

FILE* rtabmap::Rtabmap::_foutFloat

private

Definition at line 357 of file Rtabmap.h.

◆ _foutInt

FILE* rtabmap::Rtabmap::_foutInt

private

Definition at line 358 of file Rtabmap.h.

◆ _globalScanMap

LaserScan rtabmap::Rtabmap::_globalScanMap

private

Definition at line 375 of file Rtabmap.h.

◆ _globalScanMapPoses

std::map<int, Transform> rtabmap::Rtabmap::_globalScanMapPoses

private

Definition at line 376 of file Rtabmap.h.

◆ _goalReachedRadius

float rtabmap::Rtabmap::_goalReachedRadius

private

Definition at line 324 of file Rtabmap.h.

◆ _goalsSavedInUserData

bool rtabmap::Rtabmap::_goalsSavedInUserData

private

Definition at line 325 of file Rtabmap.h.

◆ _gpsGeocentricCache

std::map<int, std::pair<cv::Point3d, Transform> > rtabmap::Rtabmap::_gpsGeocentricCache

private

Definition at line 373 of file Rtabmap.h.

◆ _graphOptimizer

Optimizer* rtabmap::Rtabmap::_graphOptimizer

private

Definition at line 352 of file Rtabmap.h.

◆ _highestHypothesis

std::pair<int, float> rtabmap::Rtabmap::_highestHypothesis

private

Definition at line 341 of file Rtabmap.h.

◆ _lastLocalizationNodeId

int rtabmap::Rtabmap::_lastLocalizationNodeId

private

Definition at line 371 of file Rtabmap.h.

◆ _lastLocalizationPose

Transform rtabmap::Rtabmap::_lastLocalizationPose

private

Definition at line 370 of file Rtabmap.h.

◆ _lastProcessTime

double rtabmap::Rtabmap::_lastProcessTime

private

Definition at line 342 of file Rtabmap.h.

◆ _localImmunizationRatio

float rtabmap::Rtabmap::_localImmunizationRatio

private

Definition at line 310 of file Rtabmap.h.

◆ _localizationCovariance

cv::Mat rtabmap::Rtabmap::_localizationCovariance

private

Definition at line 372 of file Rtabmap.h.

◆ _localizationPriorInf

double rtabmap::Rtabmap::_localizationPriorInf

private

Definition at line 335 of file Rtabmap.h.

◆ _localizationSmoothing

bool rtabmap::Rtabmap::_localizationSmoothing

private

Definition at line 334 of file Rtabmap.h.

◆ _localRadius

float rtabmap::Rtabmap::_localRadius

private

Definition at line 309 of file Rtabmap.h.

◆ _loopClosureHypothesis

std::pair<int, float> rtabmap::Rtabmap::_loopClosureHypothesis

private

Definition at line 340 of file Rtabmap.h.

◆ _loopClosureIdentityGuess

bool rtabmap::Rtabmap::_loopClosureIdentityGuess

private

Definition at line 308 of file Rtabmap.h.

◆ _loopCovLimited

bool rtabmap::Rtabmap::_loopCovLimited

private

Definition at line 331 of file Rtabmap.h.

◆ _loopGPS

bool rtabmap::Rtabmap::_loopGPS

private

Definition at line 332 of file Rtabmap.h.

◆ _loopRatio

float rtabmap::Rtabmap::_loopRatio

private

Definition at line 286 of file Rtabmap.h.

◆ _loopThr

float rtabmap::Rtabmap::_loopThr

private

Definition at line 285 of file Rtabmap.h.

◆ _mapCorrection

Transform rtabmap::Rtabmap::_mapCorrection

private

Definition at line 368 of file Rtabmap.h.

◆ _mapCorrectionBackup

Transform rtabmap::Rtabmap::_mapCorrectionBackup

private

Definition at line 369 of file Rtabmap.h.

◆ _markerPriors

std::map<int, Transform> rtabmap::Rtabmap::_markerPriors

private

Definition at line 379 of file Rtabmap.h.

◆ _markerPriorsAngularVariance

float rtabmap::Rtabmap::_markerPriorsAngularVariance

private

Definition at line 338 of file Rtabmap.h.

◆ _markerPriorsLinearVariance

float rtabmap::Rtabmap::_markerPriorsLinearVariance

private

Definition at line 337 of file Rtabmap.h.

◆ _maxLocalRetrieved

unsigned int rtabmap::Rtabmap::_maxLocalRetrieved

private

Definition at line 292 of file Rtabmap.h.

◆ _maxLoopClosureDistance

float rtabmap::Rtabmap::_maxLoopClosureDistance

private

Definition at line 289 of file Rtabmap.h.

◆ _maxMemoryAllowed

unsigned int rtabmap::Rtabmap::_maxMemoryAllowed

private

Definition at line 284 of file Rtabmap.h.

◆ _maxOdomCacheSize

int rtabmap::Rtabmap::_maxOdomCacheSize

private

Definition at line 333 of file Rtabmap.h.

◆ _maxRepublished

unsigned int rtabmap::Rtabmap::_maxRepublished

private

Definition at line 293 of file Rtabmap.h.

◆ _maxRetrieved

unsigned int rtabmap::Rtabmap::_maxRetrieved

private

Definition at line 291 of file Rtabmap.h.

◆ _maxTimeAllowed

float rtabmap::Rtabmap::_maxTimeAllowed

private

Definition at line 283 of file Rtabmap.h.

◆ _memory

Memory* rtabmap::Rtabmap::_memory

private

Definition at line 355 of file Rtabmap.h.

◆ _neighborLinkRefining

bool rtabmap::Rtabmap::_neighborLinkRefining

private

Definition at line 304 of file Rtabmap.h.

◆ _newMapOdomChangeDistance

float rtabmap::Rtabmap::_newMapOdomChangeDistance

private

Definition at line 303 of file Rtabmap.h.

◆ _nodesToRepublish

std::set<int> rtabmap::Rtabmap::_nodesToRepublish

private

Definition at line 381 of file Rtabmap.h.

◆ _odomCacheConstraints

std::multimap<int, Link> rtabmap::Rtabmap::_odomCacheConstraints

private

Definition at line 378 of file Rtabmap.h.

◆ _odomCachePoses

std::map<int, Transform> rtabmap::Rtabmap::_odomCachePoses

private

Definition at line 377 of file Rtabmap.h.

◆ _optimizationMaxError

float rtabmap::Rtabmap::_optimizationMaxError

private

Definition at line 321 of file Rtabmap.h.

◆ _optimizedPoses

std::map<int, Transform> rtabmap::Rtabmap::_optimizedPoses

private

Definition at line 366 of file Rtabmap.h.

◆ _optimizeFromGraphEnd

bool rtabmap::Rtabmap::_optimizeFromGraphEnd

private

Definition at line 320 of file Rtabmap.h.

◆ _optimizeFromGraphEndChanged

bool rtabmap::Rtabmap::_optimizeFromGraphEndChanged

private

Definition at line 346 of file Rtabmap.h.

◆ _parameters

ParametersMap rtabmap::Rtabmap::_parameters

private

Definition at line 353 of file Rtabmap.h.

◆ _path

std::vector<std::pair<int,Transform> > rtabmap::Rtabmap::_path

private

Definition at line 385 of file Rtabmap.h.

◆ _pathAngularVelocity

float rtabmap::Rtabmap::_pathAngularVelocity

private

Definition at line 328 of file Rtabmap.h.

◆ _pathCurrentIndex

unsigned int rtabmap::Rtabmap::_pathCurrentIndex

private

Definition at line 387 of file Rtabmap.h.

◆ _pathGoalIndex

unsigned int rtabmap::Rtabmap::_pathGoalIndex

private

Definition at line 388 of file Rtabmap.h.

◆ _pathLinearVelocity

float rtabmap::Rtabmap::_pathLinearVelocity

private

Definition at line 327 of file Rtabmap.h.

◆ _pathStatus

int rtabmap::Rtabmap::_pathStatus

private

Definition at line 384 of file Rtabmap.h.

◆ _pathStuckCount

int rtabmap::Rtabmap::_pathStuckCount

private

Definition at line 390 of file Rtabmap.h.

◆ _pathStuckDistance

float rtabmap::Rtabmap::_pathStuckDistance

private

Definition at line 391 of file Rtabmap.h.

◆ _pathStuckIterations

int rtabmap::Rtabmap::_pathStuckIterations

private

Definition at line 326 of file Rtabmap.h.

◆ _pathTransformToGoal

Transform rtabmap::Rtabmap::_pathTransformToGoal

private

Definition at line 389 of file Rtabmap.h.

◆ _pathUnreachableNodes

std::set<unsigned int> rtabmap::Rtabmap::_pathUnreachableNodes

private

Definition at line 386 of file Rtabmap.h.

◆ _proximityAngle

float rtabmap::Rtabmap::_proximityAngle

private

Definition at line 316 of file Rtabmap.h.

◆ _proximityBySpace

bool rtabmap::Rtabmap::_proximityBySpace

private

Definition at line 306 of file Rtabmap.h.

◆ _proximityByTime

bool rtabmap::Rtabmap::_proximityByTime

private

Definition at line 305 of file Rtabmap.h.

◆ _proximityFilteringRadius

float rtabmap::Rtabmap::_proximityFilteringRadius

private

Definition at line 314 of file Rtabmap.h.

◆ _proximityMaxGraphDepth

int rtabmap::Rtabmap::_proximityMaxGraphDepth

private

Definition at line 311 of file Rtabmap.h.

◆ _proximityMaxNeighbors

int rtabmap::Rtabmap::_proximityMaxNeighbors

private

Definition at line 313 of file Rtabmap.h.

◆ _proximityMaxPaths

int rtabmap::Rtabmap::_proximityMaxPaths

private

Definition at line 312 of file Rtabmap.h.

◆ _proximityMergedScanCovFactor

double rtabmap::Rtabmap::_proximityMergedScanCovFactor

private

Definition at line 318 of file Rtabmap.h.

◆ _proximityOdomGuess

bool rtabmap::Rtabmap::_proximityOdomGuess

private

Definition at line 317 of file Rtabmap.h.

◆ _proximityRawPosesUsed

bool rtabmap::Rtabmap::_proximityRawPosesUsed

private

Definition at line 315 of file Rtabmap.h.

◆ _publishLastSignatureData

bool rtabmap::Rtabmap::_publishLastSignatureData

private

Definition at line 277 of file Rtabmap.h.

◆ _publishLikelihood

bool rtabmap::Rtabmap::_publishLikelihood

private

Definition at line 279 of file Rtabmap.h.

◆ _publishPdf

bool rtabmap::Rtabmap::_publishPdf

private

Definition at line 278 of file Rtabmap.h.

◆ _publishRAMUsage

bool rtabmap::Rtabmap::_publishRAMUsage

private

Definition at line 280 of file Rtabmap.h.

◆ _publishStats

bool rtabmap::Rtabmap::_publishStats

private

Definition at line 276 of file Rtabmap.h.

◆ _rawDataKept

bool rtabmap::Rtabmap::_rawDataKept

private

Definition at line 294 of file Rtabmap.h.

◆ _restartAtOrigin

bool rtabmap::Rtabmap::_restartAtOrigin

private

Definition at line 330 of file Rtabmap.h.

◆ _rgbdAngularSpeedUpdate

float rtabmap::Rtabmap::_rgbdAngularSpeedUpdate

private

Definition at line 302 of file Rtabmap.h.

◆ _rgbdAngularUpdate

float rtabmap::Rtabmap::_rgbdAngularUpdate

private

Definition at line 300 of file Rtabmap.h.

◆ _rgbdLinearSpeedUpdate

float rtabmap::Rtabmap::_rgbdLinearSpeedUpdate

private

Definition at line 301 of file Rtabmap.h.

◆ _rgbdLinearUpdate

float rtabmap::Rtabmap::_rgbdLinearUpdate

private

Definition at line 299 of file Rtabmap.h.

◆ _rgbdSlamMode

bool rtabmap::Rtabmap::_rgbdSlamMode

private

Definition at line 298 of file Rtabmap.h.

◆ _saveWMState

bool rtabmap::Rtabmap::_saveWMState

private

Definition at line 282 of file Rtabmap.h.

◆ _scanMatchingIdsSavedInLinks

bool rtabmap::Rtabmap::_scanMatchingIdsSavedInLinks

private

Definition at line 307 of file Rtabmap.h.

◆ _someNodesHaveBeenTransferred

bool rtabmap::Rtabmap::_someNodesHaveBeenTransferred

private

Definition at line 343 of file Rtabmap.h.

◆ _startNewMapOnGoodSignature

bool rtabmap::Rtabmap::_startNewMapOnGoodSignature

private

Definition at line 323 of file Rtabmap.h.

◆ _startNewMapOnLoopClosure

bool rtabmap::Rtabmap::_startNewMapOnLoopClosure

private

Definition at line 322 of file Rtabmap.h.

◆ _statisticLogged

bool rtabmap::Rtabmap::_statisticLogged

private

Definition at line 296 of file Rtabmap.h.

◆ _statisticLoggedHeaders

bool rtabmap::Rtabmap::_statisticLoggedHeaders

private

Definition at line 297 of file Rtabmap.h.

◆ _statisticLogsBufferedInRAM

bool rtabmap::Rtabmap::_statisticLogsBufferedInRAM

private

Definition at line 295 of file Rtabmap.h.

◆ _verifyLoopClosureHypothesis

bool rtabmap::Rtabmap::_verifyLoopClosureHypothesis

private

Definition at line 290 of file Rtabmap.h.

◆ _virtualPlaceLikelihoodRatio

int rtabmap::Rtabmap::_virtualPlaceLikelihoodRatio

private

Definition at line 288 of file Rtabmap.h.

◆ _wDir

std::string rtabmap::Rtabmap::_wDir

private

Definition at line 364 of file Rtabmap.h.

◆ statistics_

Statistics rtabmap::Rtabmap::statistics_

private

Definition at line 362 of file Rtabmap.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ VhStrategy

Constructor & Destructor Documentation

◆ Rtabmap()

◆ ~Rtabmap()

Member Function Documentation

◆ addLink()

◆ addNodesToRepublish()

◆ adjustLikelihood()

◆ cleanupLocalGrids()

◆ clearPath()

◆ close()

◆ computePath() [1/3]

◆ computePath() [2/3]

◆ computePath() [3/3]

◆ createGlobalScanMap()

◆ deleteLastLocation()

◆ detectMoreLoopClosures()

◆ dumpData()

◆ dumpPrediction()

◆ exportPoses()

◆ flushStatisticLogs()

◆ generateDOTGraph()

◆ get3DMap()

◆ getForwardWMPoses()

◆ getGoalReachedRadius()

◆ getGraph()

◆ getHighestHypothesisId()

◆ getHighestHypothesisValue()

◆ getInformation()

◆ getLastLocalizationPose()

◆ getLastLocationId()

◆ getLastProcessTime()

◆ getLocalConstraints()

◆ getLocalOptimizedPoses()

◆ getLocalRadius()

◆ getLoopClosureId()

◆ getLoopClosureValue()

◆ getMapCorrection()

◆ getMemory()

◆ getMemoryThreshold()

◆ getNodesInRadius() [1/2]

◆ getNodesInRadius() [2/2]

◆ getParameters()

◆ getPath()

◆ getPathCurrentGoalId()

◆ getPathCurrentGoalIndex()

◆ getPathCurrentIndex()

◆ getPathNextNodes()

◆ getPathNextPoses()

◆ getPaths()

◆ getPathStatus()

◆ getPathTransformToGoal()

◆ getPose()

◆ getSignatureCopy()

◆ getStatistics()

◆ getSTM()

◆ getSTMSize()

◆ getTimeThreshold()

◆ getTotalMemSize()

◆ getWeights()

◆ getWM()

◆ getWMSize()

◆ getWorkingDir()

◆ globalBundleAdjustment()

◆ init() [1/2]

◆ init() [2/2]

◆ isIDsGenerated()

◆ isInSTM()

◆ isRGBDMode()

◆ labelLocation()

◆ optimizeCurrentMap()

◆ optimizeGraph()

◆ parseParameters()

◆ process() [1/3]