#include <Rtabmap.h>

Public Types
enum	VhStrategy { kVhNone, kVhEpipolar, kVhUndef }
Public Member Functions
void	adjustLikelihood (std::map< int, float > &likelihood) const
void	clearPath (int status)
void	close (bool databaseSaved=true, const std::string &ouputDatabasePath="")
bool	computePath (int targetNode, bool global)
bool	computePath (const Transform &targetPose, float tolerance=-1.0f)
void	deleteLastLocation ()
int	detectMoreLoopClosures (float clusterRadius=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, const ProgressState *state=0)
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)
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)
int	getHighestHypothesisId () const
float	getHighestHypothesisValue () 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
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 (std::map< int, Transform > poses, const Transform &target, int maxGraphDepth=0) const
int	getPathStatus () const
const Transform &	getPathTransformToGoal () const
Transform	getPose (int locationId) 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
std::multimap< int, cv::KeyPoint >	getWords (int locationId) const
const std::string &	getWorkingDir () const
void	init (const ParametersMap &parameters, const std::string &databasePath="")
void	init (const std::string &configFile="", const std::string &databasePath="")
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 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.
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 >())
bool	process (const cv::Mat &image, int id=0, 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	setOptimizedPoses (const std::map< int, Transform > &poses)
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	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
BayesFilter *	_bayesFilter
std::list< std::string >	_bufferedLogsF
std::list< std::string >	_bufferedLogsI
bool	_computeRMSE
std::multimap< int, Link >	_constraints
std::string	_databasePath
float	_distanceTravelled
EpipolarGeometry *	_epipolarGeometry
FILE *	_foutFloat
FILE *	_foutInt
float	_goalReachedRadius
bool	_goalsSavedInUserData
Optimizer *	_graphOptimizer
std::pair< int, float >	_highestHypothesis
int	_lastLocalizationNodeId
Transform	_lastLocalizationPose
double	_lastProcessTime
float	_localImmunizationRatio
float	_localRadius
std::pair< int, float >	_loopClosureHypothesis
float	_loopRatio
float	_loopThr
Transform	_mapCorrection
Transform	_mapCorrectionBackup
unsigned int	_maxLocalRetrieved
unsigned int	_maxMemoryAllowed
unsigned int	_maxRetrieved
float	_maxTimeAllowed
Memory *	_memory
bool	_neighborLinkRefining
float	_newMapOdomChangeDistance
float	_optimizationMaxError
std::map< int, Transform >	_optimizedPoses
bool	_optimizeFromGraphEnd
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
bool	_proximityRawPosesUsed
bool	_publishLastSignatureData
bool	_publishLikelihood
bool	_publishPdf
bool	_publishRAMUsage
bool	_publishStats
bool	_rawDataKept
float	_rgbdAngularSpeedUpdate
float	_rgbdAngularUpdate
float	_rgbdLinearSpeedUpdate
float	_rgbdLinearUpdate
bool	_rgbdSlamMode
bool	_savedLocalizationIgnored
bool	_saveWMState
bool	_scanMatchingIdsSavedInLinks
bool	_someNodesHaveBeenTransferred
bool	_startNewMapOnGoodSignature
bool	_startNewMapOnLoopClosure
bool	_statisticLogged
bool	_statisticLoggedHeaders
bool	_statisticLogsBufferedInRAM
bool	_verifyLoopClosureHypothesis
std::string	_wDir
Statistics	statistics_

Detailed Description

Definition at line 53 of file Rtabmap.h.

Member Enumeration Documentation

enum rtabmap::Rtabmap::VhStrategy

Enumerator:

kVhNone
kVhEpipolar
kVhUndef

Definition at line 56 of file Rtabmap.h.

Constructor & Destructor Documentation

rtabmap::Rtabmap::Rtabmap ( )

Definition at line 78 of file Rtabmap.cpp.

rtabmap::Rtabmap::~Rtabmap ( ) [virtual]

Definition at line 149 of file Rtabmap.cpp.

Member Function Documentation

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

Definition at line 3541 of file Rtabmap.cpp.

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

Definition at line 4139 of file Rtabmap.cpp.

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 348 of file Rtabmap.cpp.

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

Definition at line 4157 of file Rtabmap.cpp.

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

Definition at line 4274 of file Rtabmap.cpp.

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

void rtabmap::Rtabmap::deleteLastLocation ( )

Definition at line 3126 of file Rtabmap.cpp.

int rtabmap::Rtabmap::detectMoreLoopClosures	(	float	clusterRadius = `0.5f`,
		float	clusterAngle = `M_PI/6.0f`,
		int	iterations = `1`,
		const ProgressState *	state = `0`
	)

Definition at line 3843 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpData ( ) const

Definition at line 3181 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpPrediction ( ) const

Definition at line 3612 of file Rtabmap.cpp.

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

Definition at line 791 of file Rtabmap.cpp.

void rtabmap::Rtabmap::flushStatisticLogs ( ) [private]

Definition at line 260 of file Rtabmap.cpp.

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

Definition at line 759 of file Rtabmap.cpp.

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 3670 of file Rtabmap.cpp.

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

Definition at line 3199 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getGoalReachedRadius ( ) const [inline]

Definition at line 125 of file Rtabmap.h.

void rtabmap::Rtabmap::getGraph	(	std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	constraints,
		bool	optimized,
		bool	global,
		std::map< int, Signature > *	signatures = `0`
	)

Definition at line 3759 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getHighestHypothesisId ( ) const [inline]

Definition at line 105 of file Rtabmap.h.

float rtabmap::Rtabmap::getHighestHypothesisValue ( ) const [inline]

Definition at line 106 of file Rtabmap.h.

const Transform& rtabmap::Rtabmap::getLastLocalizationPose ( ) const [inline]

Definition at line 127 of file Rtabmap.h.

int rtabmap::Rtabmap::getLastLocationId ( ) const

Definition at line 528 of file Rtabmap.cpp.

double rtabmap::Rtabmap::getLastProcessTime ( ) const [inline]

Definition at line 114 of file Rtabmap.h.

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

Definition at line 121 of file Rtabmap.h.

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

Definition at line 120 of file Rtabmap.h.

float rtabmap::Rtabmap::getLocalRadius ( ) const [inline]

Definition at line 126 of file Rtabmap.h.

int rtabmap::Rtabmap::getLoopClosureId ( ) const [inline]

Definition at line 103 of file Rtabmap.h.

float rtabmap::Rtabmap::getLoopClosureValue ( ) const [inline]

Definition at line 104 of file Rtabmap.h.

Transform rtabmap::Rtabmap::getMapCorrection ( ) const [inline]

Definition at line 123 of file Rtabmap.h.

const Memory* rtabmap::Rtabmap::getMemory ( ) const [inline]

Definition at line 124 of file Rtabmap.h.

const ParametersMap& rtabmap::Rtabmap::getParameters ( ) const [inline]

Definition at line 154 of file Rtabmap.h.

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

Definition at line 176 of file Rtabmap.h.

int rtabmap::Rtabmap::getPathCurrentGoalId ( ) const

Definition at line 4445 of file Rtabmap.cpp.

unsigned int rtabmap::Rtabmap::getPathCurrentGoalIndex ( ) const [inline]

Definition at line 181 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::getPathCurrentIndex ( ) const [inline]

Definition at line 180 of file Rtabmap.h.

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

Definition at line 4420 of file Rtabmap.cpp.

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

Definition at line 4395 of file Rtabmap.cpp.

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

Definition at line 3315 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getPathStatus ( ) const [inline]

Definition at line 172 of file Rtabmap.h.

const Transform& rtabmap::Rtabmap::getPathTransformToGoal ( ) const [inline]

Definition at line 182 of file Rtabmap.h.

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

Definition at line 654 of file Rtabmap.cpp.

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

Definition at line 631 of file Rtabmap.cpp.

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

Definition at line 569 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getSTMSize ( ) const

Definition at line 578 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getTimeThreshold ( ) const [inline]

Definition at line 129 of file Rtabmap.h.

int rtabmap::Rtabmap::getTotalMemSize ( ) const

Definition at line 587 of file Rtabmap.cpp.

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

Definition at line 558 of file Rtabmap.cpp.

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

Definition at line 538 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getWMSize ( ) const

Definition at line 549 of file Rtabmap.cpp.

std::multimap< int, cv::KeyPoint > rtabmap::Rtabmap::getWords ( int locationId ) const

Definition at line 600 of file Rtabmap.cpp.

const std::string& rtabmap::Rtabmap::getWorkingDir ( ) const [inline]

Definition at line 101 of file Rtabmap.h.

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

Definition at line 282 of file Rtabmap.cpp.

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

Definition at line 334 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isIDsGenerated ( ) const

Definition at line 622 of file Rtabmap.cpp.

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

Definition at line 613 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isRGBDMode ( ) const [inline]

Definition at line 102 of file Rtabmap.h.

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

Definition at line 719 of file Rtabmap.cpp.

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 3378 of file Rtabmap.cpp.

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 3424 of file Rtabmap.cpp.

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

Definition at line 405 of file Rtabmap.cpp.

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 897 of file Rtabmap.cpp.

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 875 of file Rtabmap.cpp.

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 868 of file Rtabmap.cpp.

int rtabmap::Rtabmap::refineLinks ( )

Definition at line 4093 of file Rtabmap.cpp.

void rtabmap::Rtabmap::rejectLastLoopClosure ( )

Definition at line 3068 of file Rtabmap.cpp.

void rtabmap::Rtabmap::resetMemory ( )

Definition at line 829 of file Rtabmap.cpp.

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

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

Definition at line 667 of file Rtabmap.cpp.

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

Definition at line 3176 of file Rtabmap.cpp.

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

Definition at line 3026 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setupLogFiles ( bool overwrite = false ) [private]

Definition at line 154 of file Rtabmap.cpp.

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 739 of file Rtabmap.cpp.

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

Definition at line 3041 of file Rtabmap.cpp.

int rtabmap::Rtabmap::triggerNewMap ( )

Definition at line 685 of file Rtabmap.cpp.

void rtabmap::Rtabmap::updateGoalIndex ( ) [private]

Definition at line 4455 of file Rtabmap.cpp.