#include <Signature.h>
Public Member Functions | |
| 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 |
| float | getCx () const |
| float | getCy () const |
| const cv::Mat & | getDepthCompressed () const |
| const cv::Mat & | getDepthRaw () const |
| float | getFx () const |
| float | getFy () const |
| const cv::Mat & | getImageCompressed () const |
| const cv::Mat & | getImageRaw () const |
| const std::string & | getLabel () const |
| const cv::Mat & | getLaserScanCompressed () const |
| int | getLaserScanMaxPts () const |
| const cv::Mat & | getLaserScanRaw () const |
| const std::map< int, Link > & | getLinks () const |
| const Transform & | getLocalTransform () const |
| const Transform & | getPose () const |
| void | getPoseVariance (float &rotVariance, float &transVariance) const |
| double | getStamp () const |
| const std::vector< unsigned char > & | getUserData () const |
| int | getWeight () const |
| const std::multimap< int, cv::KeyPoint > & | getWords () const |
| const std::multimap< int, pcl::PointXYZ > & | getWords3 () const |
| const std::map< int, int > & | getWordsChanged () const |
| bool | hasLink (int idTo) 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 | removeLink (int idTo) |
| void | removeLinks () |
| void | removeVirtualLinks () |
| void | removeWord (int wordId) |
| RTABMAP_DEPRECATED (float getDepthFx() const,"Use getFx() instead.") | |
| RTABMAP_DEPRECATED (float getDepthFy() const,"Use getFy() instead.") | |
| RTABMAP_DEPRECATED (float getDepthCx() const,"Use getCx() instead.") | |
| RTABMAP_DEPRECATED (float getDepthCy() const,"Use getCy() instead.") | |
| void | setDepthCompressed (const cv::Mat &bytes, float fx, float fy, float cx, float cy) |
| void | setDepthRaw (const cv::Mat &depth) |
| void | setEnabled (bool enabled) |
| void | setImageCompressed (const cv::Mat &bytes) |
| void | setImageRaw (const cv::Mat &image) |
| void | setLabel (const std::string &label) |
| void | setLaserScanCompressed (const cv::Mat &bytes, int maxPts) |
| void | setLaserScanRaw (const cv::Mat &depth2D, int maxPts) |
| void | setLocalTransform (const Transform &t) |
| void | setModified (bool modified) |
| void | setPose (const Transform &pose) |
| void | setSaved (bool saved) |
| void | setUserData (const std::vector< unsigned char > &data) |
| void | setWeight (int weight) |
| void | setWords (const std::multimap< int, cv::KeyPoint > &words) |
| void | setWords3 (const std::multimap< int, pcl::PointXYZ > &words3) |
| Signature () | |
| Signature (int id, int mapId, int weight, double stamp, const std::string &label, const std::multimap< int, cv::KeyPoint > &words, const std::multimap< int, pcl::PointXYZ > &words3, const Transform &pose=Transform(), const std::vector< unsigned char > &userData=std::vector< unsigned char >(), const cv::Mat &laserScan=cv::Mat(), const cv::Mat &image=cv::Mat(), const cv::Mat &depth=cv::Mat(), float fx=0.0f, float fy=0.0f, float cx=0.0f, float cy=0.0f, const Transform &localTransform=Transform::getIdentity(), int laserScanMaxPts=0) | |
| SensorData | toSensorData () |
| void | uncompressData () |
| void | uncompressData (cv::Mat *imageRaw, cv::Mat *depthRaw, cv::Mat *laserScanRaw) |
| void | uncompressDataConst (cv::Mat *imageRaw, cv::Mat *depthRaw, cv::Mat *laserScanRaw) const |
| virtual | ~Signature () |
Private Attributes | |
| float | _cx |
| float | _cy |
| cv::Mat | _depthCompressed |
| cv::Mat | _depthRaw |
| bool | _enabled |
| float | _fx |
| float | _fy |
| int | _id |
| cv::Mat | _imageCompressed |
| cv::Mat | _imageRaw |
| std::string | _label |
| cv::Mat | _laserScanCompressed |
| int | _laserScanMaxPts |
| cv::Mat | _laserScanRaw |
| std::map< int, Link > | _links |
| bool | _linksModified |
| Transform | _localTransform |
| int | _mapId |
| bool | _modified |
| Transform | _pose |
| bool | _saved |
| double | _stamp |
| std::vector< unsigned char > | _userData |
| int | _weight |
| std::multimap< int, cv::KeyPoint > | _words |
| std::multimap< int, pcl::PointXYZ > | _words3 |
| std::map< int, int > | _wordsChanged |
Definition at line 50 of file Signature.h.
Definition at line 39 of file Signature.cpp.
| rtabmap::Signature::Signature | ( | int | id, |
| int | mapId, | ||
| int | weight, | ||
| double | stamp, | ||
| const std::string & | label, | ||
| const std::multimap< int, cv::KeyPoint > & | words, | ||
| const std::multimap< int, pcl::PointXYZ > & | words3, | ||
| const Transform & | pose = Transform(), |
||
| const std::vector< unsigned char > & | userData = std::vector<unsigned char>(), |
||
| const cv::Mat & | laserScan = cv::Mat(), |
||
| const cv::Mat & | image = cv::Mat(), |
||
| const cv::Mat & | depth = cv::Mat(), |
||
| float | fx = 0.0f, |
||
| float | fy = 0.0f, |
||
| float | cx = 0.0f, |
||
| float | cy = 0.0f, |
||
| const Transform & | localTransform = Transform::getIdentity(), |
||
| int | laserScanMaxPts = 0 |
||
| ) |
Definition at line 56 of file Signature.cpp.
| rtabmap::Signature::~Signature | ( | ) | [virtual] |
Definition at line 100 of file Signature.cpp.
| void rtabmap::Signature::addLink | ( | const Link & | link | ) |
Definition at line 131 of file Signature.cpp.
| void rtabmap::Signature::addLinks | ( | const std::list< Link > & | links | ) |
Definition at line 117 of file Signature.cpp.
| void rtabmap::Signature::addLinks | ( | const std::map< int, Link > & | links | ) |
Definition at line 124 of file Signature.cpp.
| void rtabmap::Signature::changeLinkIds | ( | int | idFrom, |
| int | idTo | ||
| ) |
Definition at line 145 of file Signature.cpp.
| void rtabmap::Signature::changeWordsRef | ( | int | oldWordId, |
| int | activeWordId | ||
| ) |
Definition at line 205 of file Signature.cpp.
| float rtabmap::Signature::compareTo | ( | const Signature & | signature | ) | const |
Must return a value between >=0 and <=1 (1 means 100% similarity).
Definition at line 190 of file Signature.cpp.
| float rtabmap::Signature::getCx | ( | ) | const [inline] |
Definition at line 144 of file Signature.h.
| float rtabmap::Signature::getCy | ( | ) | const [inline] |
Definition at line 145 of file Signature.h.
| const cv::Mat& rtabmap::Signature::getDepthCompressed | ( | ) | const [inline] |
Definition at line 136 of file Signature.h.
| const cv::Mat& rtabmap::Signature::getDepthRaw | ( | ) | const [inline] |
Definition at line 150 of file Signature.h.
| float rtabmap::Signature::getFx | ( | ) | const [inline] |
Definition at line 142 of file Signature.h.
| float rtabmap::Signature::getFy | ( | ) | const [inline] |
Definition at line 143 of file Signature.h.
| const cv::Mat& rtabmap::Signature::getImageCompressed | ( | ) | const [inline] |
Definition at line 125 of file Signature.h.
| const cv::Mat& rtabmap::Signature::getImageRaw | ( | ) | const [inline] |
Definition at line 127 of file Signature.h.
| const std::string& rtabmap::Signature::getLabel | ( | ) | const [inline] |
Definition at line 88 of file Signature.h.
| const cv::Mat& rtabmap::Signature::getLaserScanCompressed | ( | ) | const [inline] |
Definition at line 137 of file Signature.h.
| int rtabmap::Signature::getLaserScanMaxPts | ( | ) | const [inline] |
Definition at line 153 of file Signature.h.
| const cv::Mat& rtabmap::Signature::getLaserScanRaw | ( | ) | const [inline] |
Definition at line 152 of file Signature.h.
| const std::map<int, Link>& rtabmap::Signature::getLinks | ( | ) | const [inline] |
Definition at line 110 of file Signature.h.
| const Transform& rtabmap::Signature::getLocalTransform | ( | ) | const [inline] |
Definition at line 148 of file Signature.h.
| const Transform& rtabmap::Signature::getPose | ( | ) | const [inline] |
Definition at line 146 of file Signature.h.
| void rtabmap::Signature::getPoseVariance | ( | float & | rotVariance, |
| float & | transVariance | ||
| ) | const |
Definition at line 257 of file Signature.cpp.
| double rtabmap::Signature::getStamp | ( | ) | const [inline] |
Definition at line 93 of file Signature.h.
| const std::vector<unsigned char>& rtabmap::Signature::getUserData | ( | ) | const [inline] |
Definition at line 91 of file Signature.h.
| int rtabmap::Signature::getWeight | ( | ) | const [inline] |
Definition at line 85 of file Signature.h.
| const std::multimap<int, cv::KeyPoint>& rtabmap::Signature::getWords | ( | ) | const [inline] |
Definition at line 122 of file Signature.h.
| const std::multimap<int, pcl::PointXYZ>& rtabmap::Signature::getWords3 | ( | ) | const [inline] |
Definition at line 135 of file Signature.h.
| const std::map<int, int>& rtabmap::Signature::getWordsChanged | ( | ) | const [inline] |
Definition at line 123 of file Signature.h.
| bool rtabmap::Signature::hasLink | ( | int | idTo | ) | const |
Definition at line 140 of file Signature.cpp.
| int rtabmap::Signature::id | ( | ) | const [inline] |
Definition at line 81 of file Signature.h.
| bool rtabmap::Signature::isBadSignature | ( | ) | const |
Definition at line 225 of file Signature.cpp.
| bool rtabmap::Signature::isEnabled | ( | ) | const [inline] |
Definition at line 120 of file Signature.h.
| bool rtabmap::Signature::isLinksModified | ( | ) | const [inline] |
Definition at line 113 of file Signature.h.
| bool rtabmap::Signature::isModified | ( | ) | const [inline] |
Definition at line 112 of file Signature.h.
| bool rtabmap::Signature::isSaved | ( | ) | const [inline] |
Definition at line 111 of file Signature.h.
| int rtabmap::Signature::mapId | ( | ) | const [inline] |
Definition at line 82 of file Signature.h.
| void rtabmap::Signature::removeAllWords | ( | ) |
Definition at line 230 of file Signature.cpp.
| void rtabmap::Signature::removeLink | ( | int | idTo | ) |
Definition at line 166 of file Signature.cpp.
| void rtabmap::Signature::removeLinks | ( | ) |
Definition at line 159 of file Signature.cpp.
Definition at line 175 of file Signature.cpp.
| void rtabmap::Signature::removeWord | ( | int | wordId | ) |
Definition at line 236 of file Signature.cpp.
| rtabmap::Signature::RTABMAP_DEPRECATED | ( | float getDepthFx() | const, |
| "Use getFx() instead." | |||
| ) |
| rtabmap::Signature::RTABMAP_DEPRECATED | ( | float getDepthFy() | const, |
| "Use getFy() instead." | |||
| ) |
| rtabmap::Signature::RTABMAP_DEPRECATED | ( | float getDepthCx() | const, |
| "Use getCx() instead." | |||
| ) |
| rtabmap::Signature::RTABMAP_DEPRECATED | ( | float getDepthCy() | const, |
| "Use getCy() instead." | |||
| ) |
| void rtabmap::Signature::setDepthCompressed | ( | const cv::Mat & | bytes, |
| float | fx, | ||
| float | fy, | ||
| float | cx, | ||
| float | cy | ||
| ) |
Definition at line 242 of file Signature.cpp.
| void rtabmap::Signature::setDepthRaw | ( | const cv::Mat & | depth | ) | [inline] |
Definition at line 149 of file Signature.h.
| void rtabmap::Signature::setEnabled | ( | bool | enabled | ) | [inline] |
Definition at line 121 of file Signature.h.
| void rtabmap::Signature::setImageCompressed | ( | const cv::Mat & | bytes | ) | [inline] |
Definition at line 124 of file Signature.h.
| void rtabmap::Signature::setImageRaw | ( | const cv::Mat & | image | ) | [inline] |
Definition at line 126 of file Signature.h.
| void rtabmap::Signature::setLabel | ( | const std::string & | label | ) | [inline] |
Definition at line 87 of file Signature.h.
| void rtabmap::Signature::setLaserScanCompressed | ( | const cv::Mat & | bytes, |
| int | maxPts | ||
| ) | [inline] |
Definition at line 132 of file Signature.h.
| void rtabmap::Signature::setLaserScanRaw | ( | const cv::Mat & | depth2D, |
| int | maxPts | ||
| ) | [inline] |
Definition at line 151 of file Signature.h.
| void rtabmap::Signature::setLocalTransform | ( | const Transform & | t | ) | [inline] |
Definition at line 133 of file Signature.h.
| void rtabmap::Signature::setModified | ( | bool | modified | ) | [inline] |
Definition at line 108 of file Signature.h.
| void rtabmap::Signature::setPose | ( | const Transform & | pose | ) | [inline] |
Definition at line 134 of file Signature.h.
| void rtabmap::Signature::setSaved | ( | bool | saved | ) | [inline] |
Definition at line 107 of file Signature.h.
| void rtabmap::Signature::setUserData | ( | const std::vector< unsigned char > & | data | ) |
Definition at line 105 of file Signature.cpp.
| void rtabmap::Signature::setWeight | ( | int | weight | ) | [inline] |
Definition at line 84 of file Signature.h.
| void rtabmap::Signature::setWords | ( | const std::multimap< int, cv::KeyPoint > & | words | ) | [inline] |
Definition at line 119 of file Signature.h.
| void rtabmap::Signature::setWords3 | ( | const std::multimap< int, pcl::PointXYZ > & | words3 | ) | [inline] |
Definition at line 130 of file Signature.h.
Definition at line 279 of file Signature.cpp.
| void rtabmap::Signature::uncompressData | ( | ) |
Definition at line 303 of file Signature.cpp.
| void rtabmap::Signature::uncompressData | ( | cv::Mat * | imageRaw, |
| cv::Mat * | depthRaw, | ||
| cv::Mat * | laserScanRaw | ||
| ) |
Definition at line 308 of file Signature.cpp.
| void rtabmap::Signature::uncompressDataConst | ( | cv::Mat * | imageRaw, |
| cv::Mat * | depthRaw, | ||
| cv::Mat * | laserScanRaw | ||
| ) | const |
Definition at line 325 of file Signature.cpp.
float rtabmap::Signature::_cx [private] |
Definition at line 184 of file Signature.h.
float rtabmap::Signature::_cy [private] |
Definition at line 185 of file Signature.h.
cv::Mat rtabmap::Signature::_depthCompressed [private] |
Definition at line 180 of file Signature.h.
cv::Mat rtabmap::Signature::_depthRaw [private] |
Definition at line 192 of file Signature.h.
bool rtabmap::Signature::_enabled [private] |
Definition at line 177 of file Signature.h.
float rtabmap::Signature::_fx [private] |
Definition at line 182 of file Signature.h.
float rtabmap::Signature::_fy [private] |
Definition at line 183 of file Signature.h.
int rtabmap::Signature::_id [private] |
Definition at line 161 of file Signature.h.
cv::Mat rtabmap::Signature::_imageCompressed [private] |
Definition at line 178 of file Signature.h.
cv::Mat rtabmap::Signature::_imageRaw [private] |
Definition at line 191 of file Signature.h.
std::string rtabmap::Signature::_label [private] |
Definition at line 166 of file Signature.h.
cv::Mat rtabmap::Signature::_laserScanCompressed [private] |
Definition at line 181 of file Signature.h.
int rtabmap::Signature::_laserScanMaxPts [private] |
Definition at line 189 of file Signature.h.
cv::Mat rtabmap::Signature::_laserScanRaw [private] |
Definition at line 193 of file Signature.h.
std::map<int, Link> rtabmap::Signature::_links [private] |
Definition at line 164 of file Signature.h.
bool rtabmap::Signature::_linksModified [private] |
Definition at line 170 of file Signature.h.
Transform rtabmap::Signature::_localTransform [private] |
Definition at line 187 of file Signature.h.
int rtabmap::Signature::_mapId [private] |
Definition at line 162 of file Signature.h.
bool rtabmap::Signature::_modified [private] |
Definition at line 169 of file Signature.h.
Transform rtabmap::Signature::_pose [private] |
Definition at line 186 of file Signature.h.
bool rtabmap::Signature::_saved [private] |
Definition at line 168 of file Signature.h.
double rtabmap::Signature::_stamp [private] |
Definition at line 163 of file Signature.h.
std::vector<unsigned char> rtabmap::Signature::_userData [private] |
Definition at line 167 of file Signature.h.
int rtabmap::Signature::_weight [private] |
Definition at line 165 of file Signature.h.
std::multimap<int, cv::KeyPoint> rtabmap::Signature::_words [private] |
Definition at line 175 of file Signature.h.
std::multimap<int, pcl::PointXYZ> rtabmap::Signature::_words3 [private] |
Definition at line 188 of file Signature.h.
std::map<int, int> rtabmap::Signature::_wordsChanged [private] |
Definition at line 176 of file Signature.h.