#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)
bool	computePath (int targetNode, bool global)
bool	computePath (const Transform &targetPose)
int	detectMoreLoopClosures (float clusterRadius=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1)
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::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::list< std::map< int, Transform > >	getPaths (std::map< int, Transform > poses) 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 cv::Mat &image, int id=0)
bool	process (const SensorData &data, const Transform &odomPose, const cv::Mat &covariance=cv::Mat::eye(6, 6, CV_64FC1))
void	rejectLoopClosure (int oldId, int newId)
void	resetMemory ()
	Rtabmap ()
std::pair< int, float >	selectHypothesis (const std::map< int, float > &posterior, const std::map< int, float > &likelihood) const
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, 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, 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
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
unsigned int	_maxLocalRetrieved
unsigned int	_maxMemoryAllowed
unsigned int	_maxRetrieved
float	_maxTimeAllowed
Memory *	_memory
bool	_neighborLinkRefining
float	_newMapOdomChangeDistance
float	_optimizationMaxLinearError
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
bool	_proximityRawPosesUsed
bool	_publishLastSignatureData
bool	_publishLikelihood
bool	_publishPdf
bool	_publishStats
bool	_rawDataKept
float	_rgbdAngularUpdate
float	_rgbdLinearUpdate
bool	_rgbdSlamMode
bool	_scanMatchingIdsSavedInLinks
bool	_someNodesHaveBeenTransferred
bool	_startNewMapOnLoopClosure
bool	_statisticLogged
bool	_statisticLoggedHeaders
bool	_statisticLogsBufferedInRAM
std::string	_wDir
Statistics	statistics_

Detailed Description

Definition at line 52 of file Rtabmap.h.

Member Enumeration Documentation

enum rtabmap::Rtabmap::VhStrategy

Enumerator:

kVhNone
kVhEpipolar
kVhUndef

Definition at line 55 of file Rtabmap.h.

Constructor & Destructor Documentation

rtabmap::Rtabmap::Rtabmap ( )

Definition at line 75 of file Rtabmap.cpp.

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

Definition at line 136 of file Rtabmap.cpp.

Member Function Documentation

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

Definition at line 2980 of file Rtabmap.cpp.

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

Definition at line 3373 of file Rtabmap.cpp.

void rtabmap::Rtabmap::close ( bool databaseSaved = true )

Definition at line 321 of file Rtabmap.cpp.

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

Definition at line 3391 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath ( const Transform & targetPose )

Definition at line 3504 of file Rtabmap.cpp.

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

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

Definition at line 3265 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpData ( ) const

Definition at line 2687 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpPrediction ( ) const

Definition at line 3051 of file Rtabmap.cpp.

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

Definition at line 734 of file Rtabmap.cpp.

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

Definition at line 247 of file Rtabmap.cpp.

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

Definition at line 702 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 3109 of file Rtabmap.cpp.

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

Definition at line 2705 of file Rtabmap.cpp.

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

Definition at line 95 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 3190 of file Rtabmap.cpp.

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

Definition at line 76 of file Rtabmap.h.

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

Definition at line 77 of file Rtabmap.h.

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

Definition at line 97 of file Rtabmap.h.

int rtabmap::Rtabmap::getLastLocationId ( ) const

Definition at line 494 of file Rtabmap.cpp.

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

Definition at line 85 of file Rtabmap.h.

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

Definition at line 91 of file Rtabmap.h.

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

Definition at line 96 of file Rtabmap.h.

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

Definition at line 74 of file Rtabmap.h.

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

Definition at line 75 of file Rtabmap.h.

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

Definition at line 93 of file Rtabmap.h.

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

Definition at line 94 of file Rtabmap.h.

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

Definition at line 116 of file Rtabmap.h.

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

Definition at line 136 of file Rtabmap.h.

int rtabmap::Rtabmap::getPathCurrentGoalId ( ) const

Definition at line 3670 of file Rtabmap.cpp.

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

Definition at line 141 of file Rtabmap.h.

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

Definition at line 140 of file Rtabmap.h.

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

Definition at line 3645 of file Rtabmap.cpp.

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

Definition at line 3620 of file Rtabmap.cpp.

std::list< std::map< int, Transform > > rtabmap::Rtabmap::getPaths ( std::map< int, Transform > poses ) const

Definition at line 2821 of file Rtabmap.cpp.

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

Definition at line 132 of file Rtabmap.h.

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

Definition at line 142 of file Rtabmap.h.

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

Definition at line 620 of file Rtabmap.cpp.

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

Definition at line 597 of file Rtabmap.cpp.

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

Definition at line 535 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getSTMSize ( ) const

Definition at line 544 of file Rtabmap.cpp.

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

Definition at line 99 of file Rtabmap.h.

int rtabmap::Rtabmap::getTotalMemSize ( ) const

Definition at line 553 of file Rtabmap.cpp.

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

Definition at line 524 of file Rtabmap.cpp.

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

Definition at line 504 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getWMSize ( ) const

Definition at line 515 of file Rtabmap.cpp.

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

Definition at line 566 of file Rtabmap.cpp.

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

Definition at line 72 of file Rtabmap.h.

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

Definition at line 269 of file Rtabmap.cpp.

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

Definition at line 307 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isIDsGenerated ( ) const

Definition at line 588 of file Rtabmap.cpp.

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

Definition at line 579 of file Rtabmap.cpp.

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

Definition at line 73 of file Rtabmap.h.

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

Definition at line 662 of file Rtabmap.cpp.

void rtabmap::Rtabmap::optimizeCurrentMap	(	int	id,
		bool	lookInDatabase,
		std::map< int, Transform > &	optimizedPoses,
		std::multimap< int, Link > *	constraints = `0`,
		double *	error = `0`,
		int *	iterationsDone = `0`
	)		const `[private]`

Definition at line 2850 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,
		std::multimap< int, Link > *	constraints = `0`,
		double *	error = `0`,
		int *	iterationsDone = `0`
	)		const `[private]`