Public Member Functions | Private Attributes | List of all members
rtabmap::Signature Class Reference

#include <Signature.h>

Public Member Functions

void addLandmark (const Link &landmark)
 
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
 
const TransformgetGroundTruthPose () const
 
int getInvalidWordsCount () const
 
const std::stringgetLabel () const
 
const std::map< int, Link > & getLandmarks () const
 
const std::multimap< int, Link > & getLinks () const
 
unsigned long getMemoryUsed (bool withSensorData=true) const
 
const TransformgetPose () const
 
cv::Mat getPoseCovariance () const
 
double getStamp () const
 
const std::vector< float > & getVelocity () const
 
int getWeight () const
 
const std::multimap< int, int > & getWords () const
 
const std::vector< cv::Point3f > & getWords3 () const
 
const std::map< int, int > & getWordsChanged () const
 
const cv::Mat & getWordsDescriptors () const
 
const std::vector< cv::KeyPoint > & getWordsKpts () const
 
bool hasLink (int idTo, Link::Type type=Link::kUndef) 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 removeLandmarks ()
 
void removeLink (int idTo)
 
void removeLinks (bool keepSelfReferringLinks=false)
 
void removeVirtualLinks ()
 
SensorDatasensorData ()
 
const SensorDatasensorData () const
 
void setEnabled (bool enabled)
 
void setGroundTruthPose (const Transform &pose)
 
void setLabel (const std::string &label)
 
void setModified (bool modified)
 
void setPose (const Transform &pose)
 
void setSaved (bool saved)
 
void setVelocity (float vx, float vy, float vz, float vroll, float vpitch, float vyaw)
 
void setWeight (int weight)
 
void setWords (const std::multimap< int, int > &words, const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &words3, const cv::Mat &descriptors)
 
void setWordsDescriptors (const cv::Mat &descriptors)
 
 Signature ()
 
 Signature (int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())
 
 Signature (const SensorData &data)
 
virtual ~Signature ()
 

Private Attributes

bool _enabled
 
Transform _groundTruthPose
 
int _id
 
int _invalidWordsCount
 
std::string _label
 
std::map< int, Link_landmarks
 
std::multimap< int, Link_links
 
bool _linksModified
 
int _mapId
 
bool _modified
 
Transform _pose
 
bool _saved
 
SensorData _sensorData
 
double _stamp
 
std::vector< float > _velocity
 
int _weight
 
std::multimap< int, int > _words
 
std::vector< cv::Point3f > _words3
 
std::map< int, int > _wordsChanged
 
cv::Mat _wordsDescriptors
 
std::vector< cv::KeyPoint > _wordsKpts
 

Detailed Description

Definition at line 48 of file Signature.h.

Constructor & Destructor Documentation

◆ Signature() [1/3]

rtabmap::Signature::Signature ( )

Definition at line 39 of file Signature.cpp.

◆ Signature() [2/3]

rtabmap::Signature::Signature ( int  id,
int  mapId = -1,
int  weight = 0,
double  stamp = 0.0,
const std::string label = std::string(),
const Transform pose = Transform(),
const Transform groundTruthPose = Transform(),
const SensorData sensorData = SensorData() 
)

Definition at line 52 of file Signature.cpp.

◆ Signature() [3/3]

rtabmap::Signature::Signature ( const SensorData data)

Definition at line 82 of file Signature.cpp.

◆ ~Signature()

rtabmap::Signature::~Signature ( )
virtual

Definition at line 100 of file Signature.cpp.

Member Function Documentation

◆ addLandmark()

void rtabmap::Signature::addLandmark ( const Link landmark)
inline

Definition at line 93 of file Signature.h.

◆ addLink()

void rtabmap::Signature::addLink ( const Link link)

Definition at line 119 of file Signature.cpp.

◆ addLinks() [1/2]

void rtabmap::Signature::addLinks ( const std::list< Link > &  links)

Definition at line 105 of file Signature.cpp.

◆ addLinks() [2/2]

void rtabmap::Signature::addLinks ( const std::map< int, Link > &  links)

Definition at line 112 of file Signature.cpp.

◆ changeLinkIds()

void rtabmap::Signature::changeLinkIds ( int  idFrom,
int  idTo 
)

Definition at line 158 of file Signature.cpp.

◆ changeWordsRef()

void rtabmap::Signature::changeWordsRef ( int  oldWordId,
int  activeWordId 
)

Definition at line 239 of file Signature.cpp.

◆ compareTo()

float rtabmap::Signature::compareTo ( const Signature signature) const

Must return a value between >=0 and <=1 (1 means 100% similarity).

Definition at line 222 of file Signature.cpp.

◆ getGroundTruthPose()

const Transform& rtabmap::Signature::getGroundTruthPose ( ) const
inline

Definition at line 134 of file Signature.h.

◆ getInvalidWordsCount()

int rtabmap::Signature::getInvalidWordsCount ( ) const
inline

Definition at line 113 of file Signature.h.

◆ getLabel()

const std::string& rtabmap::Signature::getLabel ( ) const
inline

Definition at line 77 of file Signature.h.

◆ getLandmarks()

const std::map<int, Link>& rtabmap::Signature::getLandmarks ( ) const
inline

Definition at line 94 of file Signature.h.

◆ getLinks()

const std::multimap<int, Link>& rtabmap::Signature::getLinks ( ) const
inline

Definition at line 100 of file Signature.h.

◆ getMemoryUsed()

unsigned long rtabmap::Signature::getMemoryUsed ( bool  withSensorData = true) const

Definition at line 345 of file Signature.cpp.

◆ getPose()

const Transform& rtabmap::Signature::getPose ( ) const
inline

Definition at line 132 of file Signature.h.

◆ getPoseCovariance()

cv::Mat rtabmap::Signature::getPoseCovariance ( ) const

Definition at line 324 of file Signature.cpp.

◆ getStamp()

double rtabmap::Signature::getStamp ( ) const
inline

Definition at line 79 of file Signature.h.

◆ getVelocity()

const std::vector<float>& rtabmap::Signature::getVelocity ( ) const
inline

Definition at line 135 of file Signature.h.

◆ getWeight()

int rtabmap::Signature::getWeight ( ) const
inline

Definition at line 74 of file Signature.h.

◆ getWords()

const std::multimap<int, int>& rtabmap::Signature::getWords ( ) const
inline

Definition at line 111 of file Signature.h.

◆ getWords3()

const std::vector<cv::Point3f>& rtabmap::Signature::getWords3 ( ) const
inline

Definition at line 131 of file Signature.h.

◆ getWordsChanged()

const std::map<int, int>& rtabmap::Signature::getWordsChanged ( ) const
inline

Definition at line 114 of file Signature.h.

◆ getWordsDescriptors()

const cv::Mat& rtabmap::Signature::getWordsDescriptors ( ) const
inline

Definition at line 115 of file Signature.h.

◆ getWordsKpts()

const std::vector<cv::KeyPoint>& rtabmap::Signature::getWordsKpts ( ) const
inline

Definition at line 112 of file Signature.h.

◆ hasLink()

bool rtabmap::Signature::hasLink ( int  idTo,
Link::Type  type = Link::kUndef 
) const

Definition at line 129 of file Signature.cpp.

◆ id()

int rtabmap::Signature::id ( ) const
inline

Definition at line 70 of file Signature.h.

◆ isBadSignature()

bool rtabmap::Signature::isBadSignature ( ) const

Definition at line 290 of file Signature.cpp.

◆ isEnabled()

bool rtabmap::Signature::isEnabled ( ) const
inline

Definition at line 109 of file Signature.h.

◆ isLinksModified()

bool rtabmap::Signature::isLinksModified ( ) const
inline

Definition at line 103 of file Signature.h.

◆ isModified()

bool rtabmap::Signature::isModified ( ) const
inline

Definition at line 102 of file Signature.h.

◆ isSaved()

bool rtabmap::Signature::isSaved ( ) const
inline

Definition at line 101 of file Signature.h.

◆ mapId()

int rtabmap::Signature::mapId ( ) const
inline

Definition at line 71 of file Signature.h.

◆ removeAllWords()

void rtabmap::Signature::removeAllWords ( )

Definition at line 295 of file Signature.cpp.

◆ removeLandmarks()

void rtabmap::Signature::removeLandmarks ( )
inline

Definition at line 95 of file Signature.h.

◆ removeLink()

void rtabmap::Signature::removeLink ( int  idTo)

Definition at line 197 of file Signature.cpp.

◆ removeLinks()

void rtabmap::Signature::removeLinks ( bool  keepSelfReferringLinks = false)

Definition at line 172 of file Signature.cpp.

◆ removeVirtualLinks()

void rtabmap::Signature::removeVirtualLinks ( )

Definition at line 207 of file Signature.cpp.

◆ sensorData() [1/2]

SensorData& rtabmap::Signature::sensorData ( )
inline

Definition at line 137 of file Signature.h.

◆ sensorData() [2/2]

const SensorData& rtabmap::Signature::sensorData ( ) const
inline

Definition at line 138 of file Signature.h.

◆ setEnabled()

void rtabmap::Signature::setEnabled ( bool  enabled)
inline

Definition at line 110 of file Signature.h.

◆ setGroundTruthPose()

void rtabmap::Signature::setGroundTruthPose ( const Transform pose)
inline

Definition at line 120 of file Signature.h.

◆ setLabel()

void rtabmap::Signature::setLabel ( const std::string label)
inline

Definition at line 76 of file Signature.h.

◆ setModified()

void rtabmap::Signature::setModified ( bool  modified)
inline

Definition at line 98 of file Signature.h.

◆ setPose()

void rtabmap::Signature::setPose ( const Transform pose)
inline

Definition at line 119 of file Signature.h.

◆ setSaved()

void rtabmap::Signature::setSaved ( bool  saved)
inline

Definition at line 97 of file Signature.h.

◆ setVelocity()

void rtabmap::Signature::setVelocity ( float  vx,
float  vy,
float  vz,
float  vroll,
float  vpitch,
float  vyaw 
)
inline

Definition at line 121 of file Signature.h.

◆ setWeight()

void rtabmap::Signature::setWeight ( int  weight)
inline

Definition at line 73 of file Signature.h.

◆ setWords()

void rtabmap::Signature::setWords ( const std::multimap< int, int > &  words,
const std::vector< cv::KeyPoint > &  keypoints,
const std::vector< cv::Point3f > &  words3,
const cv::Mat &  descriptors 
)

Definition at line 262 of file Signature.cpp.

◆ setWordsDescriptors()

void rtabmap::Signature::setWordsDescriptors ( const cv::Mat &  descriptors)

Definition at line 304 of file Signature.cpp.

Member Data Documentation

◆ _enabled

bool rtabmap::Signature::_enabled
private

Definition at line 162 of file Signature.h.

◆ _groundTruthPose

Transform rtabmap::Signature::_groundTruthPose
private

Definition at line 166 of file Signature.h.

◆ _id

int rtabmap::Signature::_id
private

Definition at line 143 of file Signature.h.

◆ _invalidWordsCount

int rtabmap::Signature::_invalidWordsCount
private

Definition at line 163 of file Signature.h.

◆ _label

std::string rtabmap::Signature::_label
private

Definition at line 149 of file Signature.h.

◆ _landmarks

std::map<int, Link> rtabmap::Signature::_landmarks
private

Definition at line 147 of file Signature.h.

◆ _links

std::multimap<int, Link> rtabmap::Signature::_links
private

Definition at line 146 of file Signature.h.

◆ _linksModified

bool rtabmap::Signature::_linksModified
private

Definition at line 152 of file Signature.h.

◆ _mapId

int rtabmap::Signature::_mapId
private

Definition at line 144 of file Signature.h.

◆ _modified

bool rtabmap::Signature::_modified
private

Definition at line 151 of file Signature.h.

◆ _pose

Transform rtabmap::Signature::_pose
private

Definition at line 165 of file Signature.h.

◆ _saved

bool rtabmap::Signature::_saved
private

Definition at line 150 of file Signature.h.

◆ _sensorData

SensorData rtabmap::Signature::_sensorData
private

Definition at line 169 of file Signature.h.

◆ _stamp

double rtabmap::Signature::_stamp
private

Definition at line 145 of file Signature.h.

◆ _velocity

std::vector<float> rtabmap::Signature::_velocity
private

Definition at line 167 of file Signature.h.

◆ _weight

int rtabmap::Signature::_weight
private

Definition at line 148 of file Signature.h.

◆ _words

std::multimap<int, int> rtabmap::Signature::_words
private

Definition at line 157 of file Signature.h.

◆ _words3

std::vector<cv::Point3f> rtabmap::Signature::_words3
private

Definition at line 159 of file Signature.h.

◆ _wordsChanged

std::map<int, int> rtabmap::Signature::_wordsChanged
private

Definition at line 161 of file Signature.h.

◆ _wordsDescriptors

cv::Mat rtabmap::Signature::_wordsDescriptors
private

Definition at line 160 of file Signature.h.

◆ _wordsKpts

std::vector<cv::KeyPoint> rtabmap::Signature::_wordsKpts
private

Definition at line 158 of file Signature.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00