rtabmap::Memory Class Reference

#include <Memory.h>

List of all members.

Public Member Functions
bool	addLink (const Link &link, bool addInDatabase=false)
int	cleanup ()
void	close (bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")
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 (Signature &fromS, Signature &toS, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false) const
Transform	computeTransform (int fromId, int toId, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false)
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 >())
std::map< int, std::string >	getAllLabels () const
std::multimap< int, Link >	getAllLinks (bool lookInDatabase, bool ignoreNullLinks=true) const
std::set< int >	getAllSignatureIds () const
int	getDatabaseMemoryUsed () const
std::string	getDatabaseUrl () const
std::string	getDatabaseVersion () const
double	getDbSavingTime () const
const Feature2D *	getFeature2D () const
Transform	getGroundTruthPose (int signatureId, bool lookInDatabase=false) const
cv::Mat	getImageCompressed (int signatureId) const
int	getLastGlobalLoopClosureId () const
int	getLastSignatureId () const
const Signature *	getLastWorkingSignature () const
std::map< int, Link >	getLinks (int signatureId, bool lookInDatabase=false) const
std::map< int, Link >	getLoopClosureLinks (int signatureId, bool lookInDatabase=false) const
int	getMaxStMemSize () const
void	getMetricConstraints (const std::set< int > &ids, std::map< int, Transform > &poses, std::multimap< int, Link > &links, bool lookInDatabase=false)
std::map< 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, StereoCameraModel &stereoModel)
SensorData	getNodeData (int nodeId, bool uncompressedData=false) const
bool	getNodeInfo (int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, std::vector< float > &velocity, GPS &gps, bool lookInDatabase=false) const
void	getNodeWords (int nodeId, std::multimap< int, cv::KeyPoint > &words, std::multimap< int, cv::Point3f > &words3, std::multimap< int, cv::Mat > &wordsDescriptors)
Transform	getOdomPose (int signatureId, bool lookInDatabase=false) const
virtual const ParametersMap &	getParameters () const
const Signature *	getSignature (int id) const
SensorData	getSignatureDataConst (int locationId, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) 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
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< unsigned int > > > *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< unsigned int > > > &polygons=std::vector< std::vector< std::vector< unsigned int > > >(), 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	setUserData (int id, const cv::Mat &data)
bool	update (const SensorData &data, Statistics *stats=0)
bool	update (const SensorData &data, const Transform &pose, const cv::Mat &covariance, const std::vector< float > &velocity=std::vector< float >(), 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	_badSignaturesIgnored
float	_badSignRatio
bool	_binDataKept
bool	_compressionParallelized
bool	_covOffDiagonalIgnored
bool	_createOccupancyGrid
bool	_depthAsMask
Feature2D *	_feature2D
bool	_generateIds
GPS	_gpsOrigin
int	_idCount
int	_idMapCount
bool	_idUpdatedToNewOneRehearsal
int	_imagePostDecimation
int	_imagePreDecimation
bool	_imagesAlreadyRectified
bool	_incrementalMemory
float	_laserScanDownsampleStepSize
int	_laserScanNormalK
float	_laserScanNormalRadius
float	_laserScanVoxelSize
int	_lastGlobalLoopClosureId
Signature *	_lastSignature
bool	_linksChanged
bool	_localBundleOnLoopClosure
bool	_mapLabelsAdded
int	_maxStMemSize
bool	_memoryChanged
bool	_notLinkedNodesKeptInDb
OccupancyGrid *	_occupancy
bool	_parallelized
bool	_rawDescriptorsKept
float	_recentWmRatio
std::vector< CameraModel >	_rectCameraModels
bool	_rectifyOnlyFeatures
StereoCameraModel	_rectStereoCameraModel
bool	_reduceGraph
bool	_reextractLoopClosureFeatures
RegistrationIcp *	_registrationIcpMulti
Registration *	_registrationPipeline
float	_rehearsalMaxAngle
float	_rehearsalMaxDistance
bool	_rehearsalWeightIgnoredWhileMoving
bool	_saveDepth16Format
bool	_saveIntermediateNodeData
std::map< int, Signature * >	_signatures
int	_signaturesAdded
float	_similarityThreshold
std::set< int >	_stMem
bool	_tfIdfLikelihoodUsed
bool	_transferSortingByWeightId
bool	_useOdometryFeatures
int	_visCorType
int	_visMaxFeatures
VWDictionary *	_vwd
std::map< int, double >	_workingMem
ParametersMap	parameters_

---

Detailed Description

Definition at line 61 of file Memory.h.

---

Constructor & Destructor Documentation

rtabmap::Memory::Memory

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 72 of file Memory.cpp.

rtabmap::Memory::~Memory

(

)

[virtual]

Definition at line 427 of file Memory.cpp.

---

Member Function Documentation

Signature * rtabmap::Memory::_getSignature

(

int

id

)

const [private]

Definition at line 1013 of file Memory.cpp.

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

Definition at line 2856 of file Memory.cpp.

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

Definition at line 787 of file Memory.cpp.

void rtabmap::Memory::addSignatureToWmFromLTM

(

Signature *

signature

)

[private]

Definition at line 892 of file Memory.cpp.

void rtabmap::Memory::cleanUnusedWords

(

)

[private]

Definition at line 4642 of file Memory.cpp.

int rtabmap::Memory::cleanup

(

)

Definition at line 1757 of file Memory.cpp.

void rtabmap::Memory::clear

(

)

[private]

Definition at line 1424 of file Memory.cpp.

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

Definition at line 370 of file Memory.cpp.

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

Definition at line 2698 of file Memory.cpp.

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 1545 of file Memory.cpp.

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

Definition at line 2412 of file Memory.cpp.

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

Definition at line 2383 of file Memory.cpp.

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

Definition at line 3579 of file Memory.cpp.

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

Definition at line 3630 of file Memory.cpp.

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

Definition at line 2266 of file Memory.cpp.

void rtabmap::Memory::disableWordsRef

(

int

signatureId

)

[private]

Definition at line 4620 of file Memory.cpp.

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

Definition at line 3049 of file Memory.cpp.

void rtabmap::Memory::dumpMemory

(

std::string

directory

)

const [virtual]

Definition at line 3040 of file Memory.cpp.

void rtabmap::Memory::dumpMemoryTree

(

const char *

fileNameTree

)

const

Definition at line 3105 of file Memory.cpp.

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

Definition at line 3057 of file Memory.cpp.

void rtabmap::Memory::emptyTrash

(

)

Definition at line 1866 of file Memory.cpp.

void rtabmap::Memory::enableWordsRef

(

const std::list< int > &

signatureIds

)

[private]

Definition at line 4665 of file Memory.cpp.

std::list< int > rtabmap::Memory::forget

(

const std::set< int > &

ignoredIds = std::set<int>()

)

Definition at line 1685 of file Memory.cpp.

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

Definition at line 3552 of file Memory.cpp.

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

(

)

const

Definition at line 2234 of file Memory.cpp.

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

Definition at line 1126 of file Memory.cpp.

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

(

)

const

Definition at line 1410 of file Memory.cpp.

int rtabmap::Memory::getDatabaseMemoryUsed

(

)

const

Definition at line 1374 of file Memory.cpp.

std::string rtabmap::Memory::getDatabaseUrl

(

)

const

Definition at line 1395 of file Memory.cpp.

std::string rtabmap::Memory::getDatabaseVersion

(

)

const

Definition at line 1385 of file Memory.cpp.

double rtabmap::Memory::getDbSavingTime

(

)

const

Definition at line 1405 of file Memory.cpp.

const Feature2D* rtabmap::Memory::getFeature2D

(

)

const [inline]

Definition at line 207 of file Memory.h.

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

Definition at line 3390 of file Memory.cpp.

cv::Mat rtabmap::Memory::getImageCompressed

(

int

signatureId

)

const

Definition at line 3433 of file Memory.cpp.

int rtabmap::Memory::getLastGlobalLoopClosureId

(

)

const [inline]

Definition at line 206 of file Memory.h.

int rtabmap::Memory::getLastSignatureId

(

)

const

Definition at line 2160 of file Memory.cpp.

const Signature * rtabmap::Memory::getLastWorkingSignature

(

)

const

Definition at line 2165 of file Memory.cpp.

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

Definition at line 1105 of file Memory.cpp.

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

Definition at line 1065 of file Memory.cpp.

int rtabmap::Memory::getMaxStMemSize

(

)

const [inline]

Definition at line 148 of file Memory.h.

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

Definition at line 4821 of file Memory.cpp.

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

Definition at line 1023 of file Memory.cpp.

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 1156 of file Memory.cpp.

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

Definition at line 1273 of file Memory.cpp.

int rtabmap::Memory::getNextId

(

)

[private]

Definition at line 1337 of file Memory.cpp.

int rtabmap::Memory::getNi

(

int

signatureId

)

const [private]

Definition at line 3563 of file Memory.cpp.

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

Definition at line 3512 of file Memory.cpp.

SensorData rtabmap::Memory::getNodeData	(	int	nodeId,
		bool	uncompressedData = false
	)		const

Definition at line 3450 of file Memory.cpp.

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,
		bool	lookInDatabase = false
	)		const

Definition at line 3402 of file Memory.cpp.

void rtabmap::Memory::getNodeWords	(	int	nodeId,
		std::multimap< int, cv::KeyPoint > &	words,
		std::multimap< int, cv::Point3f > &	words3,
		std::multimap< int, cv::Mat > &	wordsDescriptors
	)

Definition at line 3473 of file Memory.cpp.

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

Definition at line 3378 of file Memory.cpp.

virtual const ParametersMap& rtabmap::Memory::getParameters

(

)

const [inline, virtual]

Definition at line 73 of file Memory.h.

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

Definition at line 1915 of file Memory.cpp.

const Signature * rtabmap::Memory::getSignature

(

int

id

)

const

Definition at line 1008 of file Memory.cpp.

SensorData rtabmap::Memory::getSignatureDataConst	(	int	locationId,
		bool	images = true,
		bool	scan = true,
		bool	userData = true,
		bool	occupancyGrid = true
	)		const

Definition at line 3530 of file Memory.cpp.

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

Definition at line 2171 of file Memory.cpp.

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

(

)

const [inline, private]

Definition at line 252 of file Memory.h.

float rtabmap::Memory::getSimilarityThreshold

(

)

const [inline]

Definition at line 157 of file Memory.h.

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

(

)

const [inline]

Definition at line 147 of file Memory.h.

const VWDictionary * rtabmap::Memory::getVWDictionary

(

)

const

Definition at line 1018 of file Memory.cpp.

std::map< int, int > rtabmap::Memory::getWeights

(

)

const

Definition at line 1663 of file Memory.cpp.

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

(

)

const [inline]

Definition at line 146 of file Memory.h.

int rtabmap::Memory::incrementMapId

(

std::map< int, int > *

reducedIds = 0

)

Definition at line 1342 of file Memory.cpp.

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

Definition at line 142 of file Memory.cpp.

void rtabmap::Memory::initCountId

(

)

[private]

bool rtabmap::Memory::isBinDataKept

(

)

const [inline]

Definition at line 156 of file Memory.h.

bool rtabmap::Memory::isGraphReduced

(

)

const [inline]

Definition at line 208 of file Memory.h.

bool rtabmap::Memory::isIDsGenerated

(

)

const [inline]

Definition at line 205 of file Memory.h.

bool rtabmap::Memory::isIncremental

(

)

const [inline]

Definition at line 200 of file Memory.h.

bool rtabmap::Memory::isInLTM

(

int

signatureId

)

const [inline]

Definition at line 204 of file Memory.h.

bool rtabmap::Memory::isInSTM

(

int

signatureId

)

const [inline]

Definition at line 202 of file Memory.h.

bool rtabmap::Memory::isInWM

(

int

signatureId

)

const [inline]

Definition at line 203 of file Memory.h.

void rtabmap::Memory::joinTrashThread

(

)

Definition at line 1874 of file Memory.cpp.

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

Definition at line 2194 of file Memory.cpp.

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

Definition at line 1825 of file Memory.cpp.

void rtabmap::Memory::loadDataFromDb

(

bool

postInitClosingEvents

)

[private]

Definition at line 207 of file Memory.cpp.

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

Definition at line 1850 of file Memory.cpp.

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

(

Transform *

lastlocalizationPose

)

const

Definition at line 1808 of file Memory.cpp.

cv::Mat rtabmap::Memory::loadPreviewImage

(

)

const

Definition at line 1791 of file Memory.cpp.

bool rtabmap::Memory::memoryChanged

(

)

const [inline]

Definition at line 199 of file Memory.h.

void rtabmap::Memory::moveSignatureToWMFromSTM	(	int	id,
		int *	reducedTo = 0
	)		[private]

Definition at line 907 of file Memory.cpp.

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 2046 of file Memory.cpp.

void rtabmap::Memory::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Definition at line 442 of file Memory.cpp.

void rtabmap::Memory::preUpdate

(

)

[private]

Definition at line 649 of file Memory.cpp.

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

Definition at line 4777 of file Memory.cpp.

void rtabmap::Memory::rehearsal	(	Signature *	signature,
		Statistics *	stats = 0
	)		[private]

Definition at line 3163 of file Memory.cpp.

bool rtabmap::Memory::rehearsalMerge	(	int	oldId,
		int	newId
	)		[private]

Definition at line 3220 of file Memory.cpp.

void rtabmap::Memory::removeAllVirtualLinks

(

)

Definition at line 3001 of file Memory.cpp.

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

Definition at line 2295 of file Memory.cpp.

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

Definition at line 2358 of file Memory.cpp.

void rtabmap::Memory::removeVirtualLinks

(

int

signatureId

)

Definition at line 3010 of file Memory.cpp.

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

Definition at line 1817 of file Memory.cpp.

void rtabmap::Memory::saveLocationData

(

int

locationId

)

Definition at line 2276 of file Memory.cpp.

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

Definition at line 1834 of file Memory.cpp.

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

Definition at line 1800 of file Memory.cpp.

void rtabmap::Memory::savePreviewImage

(

const cv::Mat &

image

)

const

Definition at line 1784 of file Memory.cpp.

void rtabmap::Memory::saveStatistics

(

const Statistics &

statistics

)

Definition at line 1776 of file Memory.cpp.

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 2251 of file Memory.cpp.

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

Definition at line 663 of file Memory.cpp.

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 670 of file Memory.cpp.

void rtabmap::Memory::updateAge

(

int

signatureId

)

Definition at line 1365 of file Memory.cpp.

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

Definition at line 2941 of file Memory.cpp.

---

Member Data Documentation

bool rtabmap::Memory::_badSignaturesIgnored [private]

Definition at line 285 of file Memory.h.

float rtabmap::Memory::_badSignRatio [private]

Definition at line 326 of file Memory.h.

bool rtabmap::Memory::_binDataKept [private]

Definition at line 273 of file Memory.h.

bool rtabmap::Memory::_compressionParallelized [private]

Definition at line 290 of file Memory.h.

bool rtabmap::Memory::_covOffDiagonalIgnored [private]

Definition at line 306 of file Memory.h.

bool rtabmap::Memory::_createOccupancyGrid [private]

Definition at line 301 of file Memory.h.

DBDriver* rtabmap::Memory::_dbDriver [protected]

Definition at line 267 of file Memory.h.

bool rtabmap::Memory::_depthAsMask [private]

Definition at line 287 of file Memory.h.

Feature2D* rtabmap::Memory::_feature2D [private]

Definition at line 325 of file Memory.h.

bool rtabmap::Memory::_generateIds [private]

Definition at line 284 of file Memory.h.

GPS rtabmap::Memory::_gpsOrigin [private]

Definition at line 315 of file Memory.h.

int rtabmap::Memory::_idCount [private]

Definition at line 308 of file Memory.h.

int rtabmap::Memory::_idMapCount [private]

Definition at line 309 of file Memory.h.

bool rtabmap::Memory::_idUpdatedToNewOneRehearsal [private]

Definition at line 283 of file Memory.h.

int rtabmap::Memory::_imagePostDecimation [private]

Definition at line 289 of file Memory.h.

int rtabmap::Memory::_imagePreDecimation [private]

Definition at line 288 of file Memory.h.

bool rtabmap::Memory::_imagesAlreadyRectified [private]

Definition at line 304 of file Memory.h.

bool rtabmap::Memory::_incrementalMemory [private]

Definition at line 278 of file Memory.h.

float rtabmap::Memory::_laserScanDownsampleStepSize [private]

Definition at line 291 of file Memory.h.

int rtabmap::Memory::_laserScanNormalK [private]

Definition at line 293 of file Memory.h.

float rtabmap::Memory::_laserScanNormalRadius [private]

Definition at line 294 of file Memory.h.

float rtabmap::Memory::_laserScanVoxelSize [private]

Definition at line 292 of file Memory.h.

int rtabmap::Memory::_lastGlobalLoopClosureId [private]

Definition at line 311 of file Memory.h.

Signature* rtabmap::Memory::_lastSignature [private]

Definition at line 310 of file Memory.h.

bool rtabmap::Memory::_linksChanged [private]

Definition at line 313 of file Memory.h.

bool rtabmap::Memory::_localBundleOnLoopClosure [private]

Definition at line 296 of file Memory.h.

bool rtabmap::Memory::_mapLabelsAdded [private]

Definition at line 286 of file Memory.h.

int rtabmap::Memory::_maxStMemSize [private]

Definition at line 280 of file Memory.h.

bool rtabmap::Memory::_memoryChanged [private]

Definition at line 312 of file Memory.h.

bool rtabmap::Memory::_notLinkedNodesKeptInDb [private]

Definition at line 276 of file Memory.h.

OccupancyGrid* rtabmap::Memory::_occupancy [private]

Definition at line 333 of file Memory.h.

bool rtabmap::Memory::_parallelized [private]

Definition at line 328 of file Memory.h.

bool rtabmap::Memory::_rawDescriptorsKept [private]

Definition at line 274 of file Memory.h.

float rtabmap::Memory::_recentWmRatio [private]

Definition at line 281 of file Memory.h.

std::vector<CameraModel> rtabmap::Memory::_rectCameraModels [private]

Definition at line 316 of file Memory.h.

bool rtabmap::Memory::_rectifyOnlyFeatures [private]

Definition at line 305 of file Memory.h.

StereoCameraModel rtabmap::Memory::_rectStereoCameraModel [private]

Definition at line 317 of file Memory.h.

bool rtabmap::Memory::_reduceGraph [private]

Definition at line 279 of file Memory.h.

bool rtabmap::Memory::_reextractLoopClosureFeatures [private]

Definition at line 295 of file Memory.h.

RegistrationIcp* rtabmap::Memory::_registrationIcpMulti [private]

Definition at line 331 of file Memory.h.

Registration* rtabmap::Memory::_registrationPipeline [private]

Definition at line 330 of file Memory.h.

float rtabmap::Memory::_rehearsalMaxAngle [private]

Definition at line 298 of file Memory.h.

float rtabmap::Memory::_rehearsalMaxDistance [private]

Definition at line 297 of file Memory.h.

bool rtabmap::Memory::_rehearsalWeightIgnoredWhileMoving [private]

Definition at line 299 of file Memory.h.

bool rtabmap::Memory::_saveDepth16Format [private]

Definition at line 275 of file Memory.h.

bool rtabmap::Memory::_saveIntermediateNodeData [private]

Definition at line 277 of file Memory.h.

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

Definition at line 319 of file Memory.h.

int rtabmap::Memory::_signaturesAdded [private]

Definition at line 314 of file Memory.h.

float rtabmap::Memory::_similarityThreshold [private]

Definition at line 272 of file Memory.h.

std::set<int> rtabmap::Memory::_stMem [private]

Definition at line 320 of file Memory.h.

bool rtabmap::Memory::_tfIdfLikelihoodUsed [private]

Definition at line 326 of file Memory.h.

bool rtabmap::Memory::_transferSortingByWeightId [private]

Definition at line 282 of file Memory.h.

bool rtabmap::Memory::_useOdometryFeatures [private]

Definition at line 300 of file Memory.h.

int rtabmap::Memory::_visCorType [private]

Definition at line 303 of file Memory.h.

int rtabmap::Memory::_visMaxFeatures [private]

Definition at line 302 of file Memory.h.

VWDictionary* rtabmap::Memory::_vwd [private]

Definition at line 324 of file Memory.h.

std::map<int, double> rtabmap::Memory::_workingMem [private]

Definition at line 321 of file Memory.h.

const int rtabmap::Memory::kIdInvalid = 0 [static]

Definition at line 66 of file Memory.h.

const int rtabmap::Memory::kIdStart = 0 [static]

Definition at line 64 of file Memory.h.

const int rtabmap::Memory::kIdVirtual = -1 [static]

Definition at line 65 of file Memory.h.

ParametersMap rtabmap::Memory::parameters_ [private]

Definition at line 271 of file Memory.h.

---

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

• Memory.h
• Memory.cpp