rtabmap::Signature Class Reference

#include <Signature.h>

Public Member Functions
void	addLandmark (const Link &landmark)
void	addLink (const Link &link)
void	addLinks (const std::list< Link > &links)
void	addLinks (const std::map< int, Link > &links)
void	changeLinkIds (int idFrom, int idTo)
void	changeWordsRef (int oldWordId, int activeWordId)
float	compareTo (const Signature &signature) const
const Transform &	getGroundTruthPose () const
int	getInvalidWordsCount () const
const std::string &	getLabel () const
const std::map< int, Link > &	getLandmarks () const
const std::multimap< int, Link > &	getLinks () const
unsigned long	getMemoryUsed (bool withSensorData=true) const
const Transform &	getPose () const
cv::Mat	getPoseCovariance () const
double	getStamp () const
const std::vector< float > &	getVelocity () const
int	getWeight () const
const std::multimap< int, int > &	getWords () const
const std::vector< cv::Point3f > &	getWords3 () const
const std::map< int, int > &	getWordsChanged () const
const cv::Mat &	getWordsDescriptors () const
const std::vector< cv::KeyPoint > &	getWordsKpts () const
bool	hasLink (int idTo, Link::Type type=Link::kUndef) const
int	id () const
bool	isBadSignature () const
bool	isEnabled () const
bool	isLinksModified () const
bool	isModified () const
bool	isSaved () const
int	mapId () const
void	removeAllWords ()
void	removeLandmark (int landmarkId)
void	removeLandmarks ()
void	removeLink (int idTo)
void	removeLinks (bool keepSelfReferringLinks=false)
void	removeVirtualLinks ()
SensorData &	sensorData ()
const SensorData &	sensorData () const
void	setEnabled (bool enabled)
void	setGroundTruthPose (const Transform &pose)
void	setLabel (const std::string &label)
void	setModified (bool modified)
void	setPose (const Transform &pose)
void	setSaved (bool saved)
void	setVelocity (float vx, float vy, float vz, float vroll, float vpitch, float vyaw)
void	setWeight (int weight)
void	setWords (const std::multimap< int, int > &words, const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &words3, const cv::Mat &descriptors)
void	setWordsDescriptors (const cv::Mat &descriptors)
	Signature ()
	Signature (const SensorData &data)
	Signature (int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())
virtual	~Signature ()

Private Attributes
bool	_enabled
Transform	_groundTruthPose
int	_id
int	_invalidWordsCount
std::string	_label
std::map< int, Link >	_landmarks
std::multimap< int, Link >	_links
bool	_linksModified
int	_mapId
bool	_modified
Transform	_pose
bool	_saved
SensorData	_sensorData
double	_stamp
std::vector< float >	_velocity
int	_weight
std::multimap< int, int >	_words
std::vector< cv::Point3f >	_words3
std::map< int, int >	_wordsChanged
cv::Mat	_wordsDescriptors
std::vector< cv::KeyPoint >	_wordsKpts

Detailed Description

Definition at line 48 of file Signature.h.

Constructor & Destructor Documentation

Signature() [1/3]

rtabmap::Signature::Signature

(

)

Definition at line 39 of file Signature.cpp.

Signature() [2/3]

rtabmap::Signature::Signature	(	int	id,
		int	mapId = -1,
		int	weight = 0,
		double	stamp = 0.0,
		const std::string &	label = std::string(),
		const Transform &	pose = Transform(),
		const Transform &	groundTruthPose = Transform(),
		const SensorData &	sensorData = SensorData()
	)

Definition at line 52 of file Signature.cpp.

Signature() [3/3]

rtabmap::Signature::Signature

(

const SensorData &

data

)

Definition at line 82 of file Signature.cpp.

~Signature()

rtabmap::Signature::~Signature ( )

virtual

Definition at line 100 of file Signature.cpp.

Member Function Documentation

addLandmark()

void rtabmap::Signature::addLandmark

(

const Link &

landmark

)

Definition at line 222 of file Signature.cpp.

addLink()

void rtabmap::Signature::addLink

(

const Link &

link

)

Definition at line 119 of file Signature.cpp.

addLinks() [1/2]

void rtabmap::Signature::addLinks

(

const std::list< Link > &

links

)

Definition at line 105 of file Signature.cpp.

addLinks() [2/2]

void rtabmap::Signature::addLinks

(

const std::map< int, Link > &

links

)

Definition at line 112 of file Signature.cpp.

changeLinkIds()

void rtabmap::Signature::changeLinkIds	(	int	idFrom,
		int	idTo
	)

Definition at line 158 of file Signature.cpp.

changeWordsRef()

void rtabmap::Signature::changeWordsRef	(	int	oldWordId,
		int	activeWordId
	)

Definition at line 290 of file Signature.cpp.

compareTo()

float rtabmap::Signature::compareTo

(

const Signature &

signature

)

const

Must return a value between >=0 and <=1 (1 means 100% similarity).

Definition at line 250 of file Signature.cpp.

getGroundTruthPose()

const Transform& rtabmap::Signature::getGroundTruthPose ( ) const

inline

Definition at line 135 of file Signature.h.

getInvalidWordsCount()

int rtabmap::Signature::getInvalidWordsCount ( ) const

inline

Definition at line 114 of file Signature.h.

getLabel()

const std::string& rtabmap::Signature::getLabel ( ) const

inline

Definition at line 77 of file Signature.h.

getLandmarks()

const std::map<int, Link>& rtabmap::Signature::getLandmarks ( ) const

inline

Definition at line 94 of file Signature.h.

getLinks()

const std::multimap<int, Link>& rtabmap::Signature::getLinks ( ) const

inline

Definition at line 101 of file Signature.h.

getMemoryUsed()

unsigned long rtabmap::Signature::getMemoryUsed

(

bool

withSensorData = true

)

const

Definition at line 396 of file Signature.cpp.

getPose()

const Transform& rtabmap::Signature::getPose ( ) const

inline

Definition at line 133 of file Signature.h.

getPoseCovariance()

cv::Mat rtabmap::Signature::getPoseCovariance

(

)

const

Definition at line 375 of file Signature.cpp.

getStamp()

double rtabmap::Signature::getStamp ( ) const

inline

Definition at line 79 of file Signature.h.

getVelocity()

const std::vector<float>& rtabmap::Signature::getVelocity ( ) const

inline

Definition at line 136 of file Signature.h.

getWeight()

int rtabmap::Signature::getWeight ( ) const

inline

Definition at line 74 of file Signature.h.

getWords()

const std::multimap<int, int>& rtabmap::Signature::getWords ( ) const

inline

Definition at line 112 of file Signature.h.

getWords3()

const std::vector<cv::Point3f>& rtabmap::Signature::getWords3 ( ) const

inline

Definition at line 132 of file Signature.h.

getWordsChanged()

const std::map<int, int>& rtabmap::Signature::getWordsChanged ( ) const

inline

Definition at line 115 of file Signature.h.

getWordsDescriptors()

const cv::Mat& rtabmap::Signature::getWordsDescriptors ( ) const

inline

Definition at line 116 of file Signature.h.

getWordsKpts()

const std::vector<cv::KeyPoint>& rtabmap::Signature::getWordsKpts ( ) const

inline

Definition at line 113 of file Signature.h.

hasLink()

bool rtabmap::Signature::hasLink	(	int	idTo,
		Link::Type	type = Link::kUndef
	)		const

Definition at line 129 of file Signature.cpp.

id()

int rtabmap::Signature::id ( ) const

inline

Definition at line 70 of file Signature.h.

isBadSignature()

bool rtabmap::Signature::isBadSignature

(

)

const

Definition at line 341 of file Signature.cpp.

isEnabled()

bool rtabmap::Signature::isEnabled ( ) const

inline

Definition at line 110 of file Signature.h.

isLinksModified()

bool rtabmap::Signature::isLinksModified ( ) const

inline

Definition at line 104 of file Signature.h.

isModified()

bool rtabmap::Signature::isModified ( ) const

inline

Definition at line 103 of file Signature.h.

isSaved()

bool rtabmap::Signature::isSaved ( ) const

inline

Definition at line 102 of file Signature.h.

mapId()

int rtabmap::Signature::mapId ( ) const

inline

Definition at line 71 of file Signature.h.

removeAllWords()

void rtabmap::Signature::removeAllWords

(

)

Definition at line 346 of file Signature.cpp.

removeLandmark()

void rtabmap::Signature::removeLandmark

(

int

landmarkId

)

Definition at line 240 of file Signature.cpp.

removeLandmarks()

void rtabmap::Signature::removeLandmarks

(

)

Definition at line 232 of file Signature.cpp.

removeLink()

void rtabmap::Signature::removeLink

(

int

idTo

)

Definition at line 197 of file Signature.cpp.

removeLinks()

void rtabmap::Signature::removeLinks

(

bool

keepSelfReferringLinks = false

)

Definition at line 172 of file Signature.cpp.

removeVirtualLinks()

void rtabmap::Signature::removeVirtualLinks

(

)

Definition at line 207 of file Signature.cpp.

sensorData() [1/2]

SensorData& rtabmap::Signature::sensorData ( )

inline

Definition at line 138 of file Signature.h.

sensorData() [2/2]

const SensorData& rtabmap::Signature::sensorData ( ) const

inline

Definition at line 139 of file Signature.h.

setEnabled()

void rtabmap::Signature::setEnabled ( bool  enabled )

inline

Definition at line 111 of file Signature.h.

setGroundTruthPose()

void rtabmap::Signature::setGroundTruthPose ( const Transform &  pose )

inline

Definition at line 121 of file Signature.h.

setLabel()

void rtabmap::Signature::setLabel ( const std::string &  label )

inline

Definition at line 76 of file Signature.h.

setModified()

void rtabmap::Signature::setModified ( bool  modified )

inline

Definition at line 99 of file Signature.h.

setPose()

void rtabmap::Signature::setPose ( const Transform &  pose )

inline

Definition at line 120 of file Signature.h.

setSaved()

void rtabmap::Signature::setSaved ( bool  saved )

inline

Definition at line 98 of file Signature.h.

setVelocity()

void rtabmap::Signature::setVelocity ( float  vx, float  vy, float  vz, float  vroll, float  vpitch, float  vyaw  )

inline

Definition at line 122 of file Signature.h.

setWeight()

void rtabmap::Signature::setWeight ( int  weight )

inline

Definition at line 73 of file Signature.h.

setWords()

void rtabmap::Signature::setWords	(	const std::multimap< int, int > &	words,
		const std::vector< cv::KeyPoint > &	keypoints,
		const std::vector< cv::Point3f > &	words3,
		const cv::Mat &	descriptors
	)

Definition at line 313 of file Signature.cpp.

setWordsDescriptors()

void rtabmap::Signature::setWordsDescriptors

(

const cv::Mat &

descriptors

)

Definition at line 355 of file Signature.cpp.

Member Data Documentation

_enabled

bool rtabmap::Signature::_enabled

private

Definition at line 163 of file Signature.h.

_groundTruthPose

Transform rtabmap::Signature::_groundTruthPose

private

Definition at line 167 of file Signature.h.

_id

int rtabmap::Signature::_id

private

Definition at line 144 of file Signature.h.

_invalidWordsCount

int rtabmap::Signature::_invalidWordsCount

private

Definition at line 164 of file Signature.h.

_label

std::string rtabmap::Signature::_label

private

Definition at line 150 of file Signature.h.

_landmarks

std::map<int, Link> rtabmap::Signature::_landmarks

private

Definition at line 148 of file Signature.h.

_links

std::multimap<int, Link> rtabmap::Signature::_links

private

Definition at line 147 of file Signature.h.

_linksModified

bool rtabmap::Signature::_linksModified

private

Definition at line 153 of file Signature.h.

_mapId

int rtabmap::Signature::_mapId

private

Definition at line 145 of file Signature.h.

_modified

bool rtabmap::Signature::_modified

private

Definition at line 152 of file Signature.h.

_pose

Transform rtabmap::Signature::_pose

private

Definition at line 166 of file Signature.h.

_saved

bool rtabmap::Signature::_saved

private

Definition at line 151 of file Signature.h.

_sensorData

SensorData rtabmap::Signature::_sensorData

private

Definition at line 170 of file Signature.h.

_stamp

double rtabmap::Signature::_stamp

private

Definition at line 146 of file Signature.h.

_velocity

std::vector<float> rtabmap::Signature::_velocity

private

Definition at line 168 of file Signature.h.

_weight

int rtabmap::Signature::_weight

private

Definition at line 149 of file Signature.h.

_words

std::multimap<int, int> rtabmap::Signature::_words

private

Definition at line 158 of file Signature.h.

_words3

std::vector<cv::Point3f> rtabmap::Signature::_words3

private

Definition at line 160 of file Signature.h.

_wordsChanged

std::map<int, int> rtabmap::Signature::_wordsChanged

private

Definition at line 162 of file Signature.h.

_wordsDescriptors

cv::Mat rtabmap::Signature::_wordsDescriptors

private

Definition at line 161 of file Signature.h.

_wordsKpts

std::vector<cv::KeyPoint> rtabmap::Signature::_wordsKpts

private

Definition at line 159 of file Signature.h.

---

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

• Signature.h
• Signature.cpp