rtabmap::Memory Class Reference

#include <Memory.h>

List of all members.

Public Member Functions
bool	addLink (int to, int from, const Transform &transform, Link::Type type, float rotVariance, float transVariance)
std::list< int >	cleanup (const std::list< int > &ignoredIds=std::list< int >())
Transform	computeIcpTransform (int oldId, int newId, Transform guess, bool icp3D, std::string *rejectedMsg=0, int *correspondences=0, double *variance=0, float *correspondencesRatio=0)
Transform	computeIcpTransform (const Signature &oldS, const Signature &newS, Transform guess, bool icp3D, std::string *rejectedMsg=0, int *correspondences=0, double *variance=0, float *correspondencesRatio=0) const
std::map< int, float >	computeLikelihood (const Signature *signature, const std::list< int > &ids)
Transform	computeScanMatchingTransform (int newId, int oldId, const std::map< int, Transform > &poses, std::string *rejectedMsg=0, int *inliers=0, double *variance=0)
Transform	computeVisualTransform (int oldId, int newId, std::string *rejectedMsg=0, int *inliers=0, double *variance=0) const
Transform	computeVisualTransform (const Signature &oldS, const Signature &newS, std::string *rejectedMsg=0, int *inliers=0, double *variance=0) const
void	createGraph (GraphNode *parent, unsigned int maxDepth, const std::set< int > &endIds=std::set< int >())
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, std::set< int > ids=std::set< int >())
std::map< int, std::string >	getAllLabels () const
std::set< int >	getAllSignatureIds () const
bool	getBowForce2D () const
float	getBowInlierDistance () const
int	getBowIterations () const
float	getBowMaxDepth () const
int	getBowMinInliers () const
int	getDatabaseMemoryUsed () const
double	getDbSavingTime () const
const Feature2D *	getFeature2D () const
Feature2D::Type	getFeatureType () const
cv::Mat	getImageCompressed (int signatureId) const
int	getLastGlobalLoopClosureId () const
int	getLastSignatureId () const
const Signature *	getLastWorkingSignature () 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, double *dbAccessTime=0) const
std::map< int, float >	getNeighborsIdRadius (int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) const
bool	getNodeInfo (int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, std::vector< unsigned char > &userData, bool lookInDatabase=false) const
Transform	getOdomPose (int signatureId, bool lookInDatabase=false) const
const Signature *	getSignature (int id) const
Signature	getSignatureData (int locationId, bool uncompressedData=false)
Signature	getSignatureDataConst (int locationId) 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 ()
bool	init (const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)
bool	isBinDataKept () const
bool	isIDsGenerated () const
bool	isIncremental () const
bool	isInLTM (int signatureId) const
bool	isInSTM (int signatureId) const
bool	isInWM (int signatureId) const
bool	isRawDataKept () const
void	joinTrashThread ()
bool	labelSignature (int id, const std::string &label)
	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	setRoi (const std::string &roi)
bool	setUserData (int id, const std::vector< unsigned char > &data)
bool	update (const SensorData &data, Statistics *stats=0)
void	updateAge (int signatureId)
void	updateLink (int fromId, int toId, const Transform &transform, float rotVariance, float transVariance)
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, float poseRotVariance, float poseTransVariance)
void	addSignatureToWm (Signature *signature)
void	cleanUnusedWords ()
void	clear ()
void	copyData (const Signature *from, Signature *to)
Signature *	createSignature (const SensorData &data, 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	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	_bowEpipolarGeometry
float	_bowEpipolarGeometryVar
bool	_bowForce2D
float	_bowInlierDistance
int	_bowIterations
float	_bowMaxDepth
int	_bowMinInliers
Feature2D *	_feature2D
Feature2D::Type	_featureType
bool	_generateIds
float	_icp2CorrespondenceRatio
float	_icp2MaxCorrespondenceDistance
int	_icp2MaxIterations
float	_icp2VoxelSize
float	_icpCorrespondenceRatio
int	_icpDecimation
float	_icpMaxCorrespondenceDistance
float	_icpMaxDepth
int	_icpMaxIterations
float	_icpMaxRotation
float	_icpMaxTranslation
bool	_icpPointToPlane
int	_icpPointToPlaneNormalNeighbors
int	_icpSamples
float	_icpVoxelSize
int	_idCount
int	_idMapCount
bool	_idUpdatedToNewOneRehearsal
int	_imageDecimation
bool	_incrementalMemory
float	_laserScanVoxelSize
int	_lastGlobalLoopClosureId
Signature *	_lastSignature
bool	_linksChanged
bool	_localSpaceLinksKeptInWM
int	_maxStMemSize
bool	_memoryChanged
bool	_notLinkedNodesKeptInDb
bool	_parallelized
bool	_postInitClosingEvents
bool	_rawDataKept
float	_recentWmRatio
float	_rehearsalMaxAngle
float	_rehearsalMaxDistance
bool	_rehearsalWeightIgnoredWhileMoving
std::vector< float >	_roiRatios
std::map< int, Signature * >	_signatures
int	_signaturesAdded
float	_similarityThreshold
double	_stereoFlowEpsilon
int	_stereoFlowIterations
int	_stereoFlowMaxLevel
int	_stereoFlowWinSize
float	_stereoMaxSlope
std::set< int >	_stMem
double	_subPixEps
int	_subPixIterations
int	_subPixWinSize
bool	_tfIdfLikelihoodUsed
bool	_transferSortingByWeightId
VWDictionary *	_vwd
float	_wordsMaxDepth
std::map< int, double >	_workingMem

---

Detailed Description

Definition at line 56 of file Memory.h.

---

Constructor & Destructor Documentation

rtabmap::Memory::Memory

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 59 of file Memory.cpp.

rtabmap::Memory::~Memory

(

)

[virtual]

Definition at line 327 of file Memory.cpp.

---

Member Function Documentation

Signature * rtabmap::Memory::_getSignature

(

int

id

)

const [private]

Definition at line 765 of file Memory.cpp.

bool rtabmap::Memory::addLink	(	int	to,
		int	from,
		const Transform &	transform,
		Link::Type	type,
		float	rotVariance,
		float	transVariance
	)

Definition at line 2629 of file Memory.cpp.

void rtabmap::Memory::addSignatureToStm	(	Signature *	signature,
		float	poseRotVariance,
		float	poseTransVariance
	)		[private]

Definition at line 676 of file Memory.cpp.

void rtabmap::Memory::addSignatureToWm

(

Signature *

signature

)

[private]

Definition at line 745 of file Memory.cpp.

void rtabmap::Memory::cleanUnusedWords

(

)

[private]

Definition at line 4090 of file Memory.cpp.

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

(

const std::list< int > &

ignoredIds = std::list<int>()

)

Definition at line 1384 of file Memory.cpp.

void rtabmap::Memory::clear

(

)

[private]

Definition at line 1088 of file Memory.cpp.

Transform rtabmap::Memory::computeIcpTransform	(	int	oldId,
		int	newId,
		Transform	guess,
		bool	icp3D,
		std::string *	rejectedMsg = 0,
		int *	correspondences = 0,
		double *	variance = 0,
		float *	correspondencesRatio = 0
	)

Definition at line 2098 of file Memory.cpp.

Transform rtabmap::Memory::computeIcpTransform	(	const Signature &	oldS,
		const Signature &	newS,
		Transform	guess,
		bool	icp3D,
		std::string *	rejectedMsg = 0,
		int *	correspondences = 0,
		double *	variance = 0,
		float *	correspondencesRatio = 0
	)		const

Definition at line 2179 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 1190 of file Memory.cpp.

Transform rtabmap::Memory::computeScanMatchingTransform	(	int	newId,
		int	oldId,
		const std::map< int, Transform > &	poses,
		std::string *	rejectedMsg = 0,
		int *	inliers = 0,
		double *	variance = 0
	)

Definition at line 2484 of file Memory.cpp.

Transform rtabmap::Memory::computeVisualTransform	(	int	oldId,
		int	newId,
		std::string *	rejectedMsg = 0,
		int *	inliers = 0,
		double *	variance = 0
	)		const

Definition at line 1887 of file Memory.cpp.

Transform rtabmap::Memory::computeVisualTransform	(	const Signature &	oldS,
		const Signature &	newS,
		std::string *	rejectedMsg = 0,
		int *	inliers = 0,
		double *	variance = 0
	)		const

Definition at line 1916 of file Memory.cpp.

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

Definition at line 3455 of file Memory.cpp.

void rtabmap::Memory::createGraph	(	GraphNode *	parent,
		unsigned int	maxDepth,
		const std::set< int > &	endIds = std::set<int>()
	)

Definition at line 3419 of file Memory.cpp.

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

Definition at line 3519 of file Memory.cpp.

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

Definition at line 1816 of file Memory.cpp.

void rtabmap::Memory::disableWordsRef

(

int

signatureId

)

[private]

Definition at line 4068 of file Memory.cpp.

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

Definition at line 2741 of file Memory.cpp.

void rtabmap::Memory::dumpMemory

(

std::string

directory

)

const [virtual]

Definition at line 2732 of file Memory.cpp.

void rtabmap::Memory::dumpMemoryTree

(

const char *

fileNameTree

)

const

Definition at line 2804 of file Memory.cpp.

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

Definition at line 2749 of file Memory.cpp.

void rtabmap::Memory::emptyTrash

(

)

Definition at line 1403 of file Memory.cpp.

void rtabmap::Memory::enableWordsRef

(

const std::list< int > &

signatureIds

)

[private]

Definition at line 4116 of file Memory.cpp.

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

(

const std::set< int > &

ignoredIds = std::set<int>()

)

Definition at line 1328 of file Memory.cpp.

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

Definition at line 3200 of file Memory.cpp.

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

(

)

const

Definition at line 1771 of file Memory.cpp.

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

(

)

const

Definition at line 1074 of file Memory.cpp.

bool rtabmap::Memory::getBowForce2D

(

)

const [inline]

Definition at line 171 of file Memory.h.

float rtabmap::Memory::getBowInlierDistance

(

)

const [inline]

Definition at line 167 of file Memory.h.

int rtabmap::Memory::getBowIterations

(

)

const [inline]

Definition at line 168 of file Memory.h.

float rtabmap::Memory::getBowMaxDepth

(

)

const [inline]

Definition at line 170 of file Memory.h.

int rtabmap::Memory::getBowMinInliers

(

)

const [inline]

Definition at line 169 of file Memory.h.

int rtabmap::Memory::getDatabaseMemoryUsed

(

)

const

Definition at line 1059 of file Memory.cpp.

double rtabmap::Memory::getDbSavingTime

(

)

const

Definition at line 1069 of file Memory.cpp.

const Feature2D* rtabmap::Memory::getFeature2D

(

)

const [inline]

Definition at line 143 of file Memory.h.

Feature2D::Type rtabmap::Memory::getFeatureType

(

)

const [inline]

Definition at line 159 of file Memory.h.

cv::Mat rtabmap::Memory::getImageCompressed

(

int

signatureId

)

const

Definition at line 3067 of file Memory.cpp.

int rtabmap::Memory::getLastGlobalLoopClosureId

(

)

const [inline]

Definition at line 142 of file Memory.h.

int rtabmap::Memory::getLastSignatureId

(

)

const

Definition at line 1700 of file Memory.cpp.

const Signature * rtabmap::Memory::getLastWorkingSignature

(

)

const

Definition at line 1705 of file Memory.cpp.

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

Definition at line 805 of file Memory.cpp.

int rtabmap::Memory::getMaxStMemSize

(

)

const [inline]

Definition at line 105 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 4264 of file Memory.cpp.

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

Definition at line 775 of file Memory.cpp.

std::map< int, int > rtabmap::Memory::getNeighborsId	(	int	signatureId,
		int	maxGraphDepth,
		int	maxCheckedInDatabase = -1,
		bool	incrementMarginOnLoop = false,
		bool	ignoreLoopIds = false,
		double *	dbAccessTime = 0
	)		const

Definition at line 844 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 937 of file Memory.cpp.

int rtabmap::Memory::getNextId

(

)

[private]

Definition at line 1003 of file Memory.cpp.

int rtabmap::Memory::getNi

(

int

signatureId

)

const [private]

Definition at line 3439 of file Memory.cpp.

bool rtabmap::Memory::getNodeInfo	(	int	signatureId,
		Transform &	odomPose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		std::vector< unsigned char > &	userData,
		bool	lookInDatabase = false
	)		const

Definition at line 3040 of file Memory.cpp.

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

Definition at line 3029 of file Memory.cpp.

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

Definition at line 1452 of file Memory.cpp.

const Signature * rtabmap::Memory::getSignature

(

int

id

)

const

Definition at line 760 of file Memory.cpp.

Signature rtabmap::Memory::getSignatureData	(	int	locationId,
		bool	uncompressedData = false
	)

Definition at line 3082 of file Memory.cpp.

Signature rtabmap::Memory::getSignatureDataConst

(

int

locationId

)

const

Definition at line 3150 of file Memory.cpp.

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

Definition at line 1711 of file Memory.cpp.

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

(

)

const [inline, private]

Definition at line 199 of file Memory.h.

float rtabmap::Memory::getSimilarityThreshold

(

)

const [inline]

Definition at line 112 of file Memory.h.

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

(

)

const [inline]

Definition at line 104 of file Memory.h.

const VWDictionary * rtabmap::Memory::getVWDictionary

(

)

const

Definition at line 770 of file Memory.cpp.

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

(

)

const

Definition at line 1306 of file Memory.cpp.

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

(

)

const [inline]

Definition at line 103 of file Memory.h.

int rtabmap::Memory::incrementMapId

(

)

Definition at line 1008 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 135 of file Memory.cpp.

void rtabmap::Memory::initCountId

(

)

[private]

bool rtabmap::Memory::isBinDataKept

(

)

const [inline]

Definition at line 111 of file Memory.h.

bool rtabmap::Memory::isIDsGenerated

(

)

const [inline]

Definition at line 141 of file Memory.h.

bool rtabmap::Memory::isIncremental

(

)

const [inline]

Definition at line 136 of file Memory.h.

bool rtabmap::Memory::isInLTM

(

int

signatureId

)

const [inline]

Definition at line 140 of file Memory.h.

bool rtabmap::Memory::isInSTM

(

int

signatureId

)

const [inline]

Definition at line 138 of file Memory.h.

bool rtabmap::Memory::isInWM

(

int

signatureId

)

const [inline]

Definition at line 139 of file Memory.h.

bool rtabmap::Memory::isRawDataKept

(

)

const [inline]

Definition at line 110 of file Memory.h.

void rtabmap::Memory::joinTrashThread

(

)

Definition at line 1411 of file Memory.cpp.

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

Definition at line 1734 of file Memory.cpp.

bool rtabmap::Memory::memoryChanged

(

)

const [inline]

Definition at line 135 of file Memory.h.

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 1586 of file Memory.cpp.

void rtabmap::Memory::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Definition at line 386 of file Memory.cpp.

void rtabmap::Memory::preUpdate

(

)

[private]

Definition at line 524 of file Memory.cpp.

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

Definition at line 4220 of file Memory.cpp.

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

Definition at line 2860 of file Memory.cpp.

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

Definition at line 2937 of file Memory.cpp.

void rtabmap::Memory::removeAllVirtualLinks

(

)

Definition at line 2723 of file Memory.cpp.

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

Definition at line 1826 of file Memory.cpp.

void rtabmap::Memory::setRoi

(

const std::string &

roi

)

Definition at line 645 of file Memory.cpp.

bool rtabmap::Memory::setUserData	(	int	id,
		const std::vector< unsigned char > &	data
	)

Definition at line 1788 of file Memory.cpp.

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

Definition at line 535 of file Memory.cpp.

void rtabmap::Memory::updateAge

(

int

signatureId

)

Definition at line 1050 of file Memory.cpp.

void rtabmap::Memory::updateLink	(	int	fromId,
		int	toId,
		const Transform &	transform,
		float	rotVariance,
		float	transVariance
	)

Definition at line 2698 of file Memory.cpp.

---

Member Data Documentation

bool rtabmap::Memory::_badSignaturesIgnored [private]

Definition at line 227 of file Memory.h.

float rtabmap::Memory::_badSignRatio [private]

Definition at line 252 of file Memory.h.

bool rtabmap::Memory::_binDataKept [private]

Definition at line 219 of file Memory.h.

bool rtabmap::Memory::_bowEpipolarGeometry [private]

Definition at line 264 of file Memory.h.

float rtabmap::Memory::_bowEpipolarGeometryVar [private]

Definition at line 265 of file Memory.h.

bool rtabmap::Memory::_bowForce2D [private]

Definition at line 263 of file Memory.h.

float rtabmap::Memory::_bowInlierDistance [private]

Definition at line 260 of file Memory.h.

int rtabmap::Memory::_bowIterations [private]

Definition at line 261 of file Memory.h.

float rtabmap::Memory::_bowMaxDepth [private]

Definition at line 262 of file Memory.h.

int rtabmap::Memory::_bowMinInliers [private]

Definition at line 259 of file Memory.h.

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

Definition at line 213 of file Memory.h.

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

Definition at line 250 of file Memory.h.

Feature2D::Type rtabmap::Memory::_featureType [private]

Definition at line 251 of file Memory.h.

bool rtabmap::Memory::_generateIds [private]

Definition at line 226 of file Memory.h.

float rtabmap::Memory::_icp2CorrespondenceRatio [private]

Definition at line 279 of file Memory.h.

float rtabmap::Memory::_icp2MaxCorrespondenceDistance [private]

Definition at line 277 of file Memory.h.

int rtabmap::Memory::_icp2MaxIterations [private]

Definition at line 278 of file Memory.h.

float rtabmap::Memory::_icp2VoxelSize [private]

Definition at line 280 of file Memory.h.

float rtabmap::Memory::_icpCorrespondenceRatio [private]

Definition at line 274 of file Memory.h.

int rtabmap::Memory::_icpDecimation [private]

Definition at line 268 of file Memory.h.

float rtabmap::Memory::_icpMaxCorrespondenceDistance [private]

Definition at line 272 of file Memory.h.

float rtabmap::Memory::_icpMaxDepth [private]

Definition at line 269 of file Memory.h.

int rtabmap::Memory::_icpMaxIterations [private]

Definition at line 273 of file Memory.h.

float rtabmap::Memory::_icpMaxRotation [private]

Definition at line 267 of file Memory.h.

float rtabmap::Memory::_icpMaxTranslation [private]

Definition at line 266 of file Memory.h.

bool rtabmap::Memory::_icpPointToPlane [private]

Definition at line 275 of file Memory.h.

int rtabmap::Memory::_icpPointToPlaneNormalNeighbors [private]

Definition at line 276 of file Memory.h.

int rtabmap::Memory::_icpSamples [private]

Definition at line 271 of file Memory.h.

float rtabmap::Memory::_icpVoxelSize [private]

Definition at line 270 of file Memory.h.

int rtabmap::Memory::_idCount [private]

Definition at line 235 of file Memory.h.

int rtabmap::Memory::_idMapCount [private]

Definition at line 236 of file Memory.h.

bool rtabmap::Memory::_idUpdatedToNewOneRehearsal [private]

Definition at line 225 of file Memory.h.

int rtabmap::Memory::_imageDecimation [private]

Definition at line 228 of file Memory.h.

bool rtabmap::Memory::_incrementalMemory [private]

Definition at line 221 of file Memory.h.

float rtabmap::Memory::_laserScanVoxelSize [private]

Definition at line 229 of file Memory.h.

int rtabmap::Memory::_lastGlobalLoopClosureId [private]

Definition at line 238 of file Memory.h.

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

Definition at line 237 of file Memory.h.

bool rtabmap::Memory::_linksChanged [private]

Definition at line 240 of file Memory.h.

bool rtabmap::Memory::_localSpaceLinksKeptInWM [private]

Definition at line 230 of file Memory.h.

int rtabmap::Memory::_maxStMemSize [private]

Definition at line 222 of file Memory.h.

bool rtabmap::Memory::_memoryChanged [private]

Definition at line 239 of file Memory.h.

bool rtabmap::Memory::_notLinkedNodesKeptInDb [private]

Definition at line 220 of file Memory.h.

bool rtabmap::Memory::_parallelized [private]

Definition at line 254 of file Memory.h.

bool rtabmap::Memory::_postInitClosingEvents [private]

Definition at line 242 of file Memory.h.

bool rtabmap::Memory::_rawDataKept [private]

Definition at line 218 of file Memory.h.

float rtabmap::Memory::_recentWmRatio [private]

Definition at line 223 of file Memory.h.

float rtabmap::Memory::_rehearsalMaxAngle [private]

Definition at line 232 of file Memory.h.

float rtabmap::Memory::_rehearsalMaxDistance [private]

Definition at line 231 of file Memory.h.

bool rtabmap::Memory::_rehearsalWeightIgnoredWhileMoving [private]

Definition at line 233 of file Memory.h.

std::vector<float> rtabmap::Memory::_roiRatios [private]

Definition at line 256 of file Memory.h.

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

Definition at line 244 of file Memory.h.

int rtabmap::Memory::_signaturesAdded [private]

Definition at line 241 of file Memory.h.

float rtabmap::Memory::_similarityThreshold [private]

Definition at line 217 of file Memory.h.

double rtabmap::Memory::_stereoFlowEpsilon [private]

Definition at line 285 of file Memory.h.

int rtabmap::Memory::_stereoFlowIterations [private]

Definition at line 284 of file Memory.h.

int rtabmap::Memory::_stereoFlowMaxLevel [private]

Definition at line 286 of file Memory.h.

int rtabmap::Memory::_stereoFlowWinSize [private]

Definition at line 283 of file Memory.h.

float rtabmap::Memory::_stereoMaxSlope [private]

Definition at line 287 of file Memory.h.

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

Definition at line 245 of file Memory.h.

double rtabmap::Memory::_subPixEps [private]

Definition at line 291 of file Memory.h.

int rtabmap::Memory::_subPixIterations [private]

Definition at line 290 of file Memory.h.

int rtabmap::Memory::_subPixWinSize [private]

Definition at line 289 of file Memory.h.

bool rtabmap::Memory::_tfIdfLikelihoodUsed [private]

Definition at line 252 of file Memory.h.

bool rtabmap::Memory::_transferSortingByWeightId [private]

Definition at line 224 of file Memory.h.

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

Definition at line 249 of file Memory.h.

float rtabmap::Memory::_wordsMaxDepth [private]

Definition at line 255 of file Memory.h.

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

Definition at line 246 of file Memory.h.

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

Definition at line 61 of file Memory.h.

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

Definition at line 59 of file Memory.h.

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

Definition at line 60 of file Memory.h.

---

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

• Memory.h
• Memory.cpp