rtabmap::RegistrationIcp Class Reference

#include <RegistrationIcp.h>

Inheritance diagram for rtabmap::RegistrationIcp:

List of all members.

Public Member Functions
virtual void	parseParameters (const ParametersMap &parameters)
	RegistrationIcp (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
virtual	~RegistrationIcp ()
Protected Member Functions
virtual bool	canUseGuessImpl () const
virtual Transform	computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
virtual float	getMinGeometryCorrespondencesRatioImpl () const
virtual bool	isScanRequiredImpl () const
Private Attributes
float	_correspondenceRatio
int	_downsamplingStep
float	_epsilon
bool	_libpointmatcher
std::string	_libpointmatcherConfig
float	_libpointmatcherEpsilon
void *	_libpointmatcherICP
int	_libpointmatcherKnn
float	_libpointmatcherOutlierRatio
float	_maxCorrespondenceDistance
int	_maxIterations
float	_maxRotation
float	_maxTranslation
bool	_pointToPlane
int	_pointToPlaneK
float	_pointToPlaneMinComplexity
float	_pointToPlaneRadius
float	_voxelSize

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Detailed Description

Definition at line 39 of file RegistrationIcp.h.

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Constructor & Destructor Documentation

rtabmap::RegistrationIcp::RegistrationIcp	(	const ParametersMap &	parameters = ParametersMap(),
		Registration *	child = 0
	)

Definition at line 365 of file RegistrationIcp.cpp.

rtabmap::RegistrationIcp::~RegistrationIcp

(

)

[virtual]

Definition at line 389 of file RegistrationIcp.cpp.

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Member Function Documentation

virtual bool rtabmap::RegistrationIcp::canUseGuessImpl

(

)

const [inline, protected, virtual]

Reimplemented from rtabmap::Registration.

Definition at line 55 of file RegistrationIcp.h.

Transform rtabmap::RegistrationIcp::computeTransformationImpl	(	Signature &	from,
		Signature &	to,
		Transform	guess,
		RegistrationInfo &	info
	)		const [protected, virtual]

Implements rtabmap::Registration.

Definition at line 521 of file RegistrationIcp.cpp.

virtual float rtabmap::RegistrationIcp::getMinGeometryCorrespondencesRatioImpl

(

)

const [inline, protected, virtual]

Reimplemented from rtabmap::Registration.

Definition at line 56 of file RegistrationIcp.h.

virtual bool rtabmap::RegistrationIcp::isScanRequiredImpl

(

)

const [inline, protected, virtual]

Reimplemented from rtabmap::Registration.

Definition at line 54 of file RegistrationIcp.h.

void rtabmap::RegistrationIcp::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Reimplemented from rtabmap::Registration.

Definition at line 396 of file RegistrationIcp.cpp.

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Member Data Documentation

float rtabmap::RegistrationIcp::_correspondenceRatio [private]

Definition at line 66 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_downsamplingStep [private]

Definition at line 62 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_epsilon [private]

Definition at line 65 of file RegistrationIcp.h.

bool rtabmap::RegistrationIcp::_libpointmatcher [private]

Definition at line 71 of file RegistrationIcp.h.

std::string rtabmap::RegistrationIcp::_libpointmatcherConfig [private]

Definition at line 72 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_libpointmatcherEpsilon [private]

Definition at line 74 of file RegistrationIcp.h.

void* rtabmap::RegistrationIcp::_libpointmatcherICP [private]

Definition at line 76 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_libpointmatcherKnn [private]

Definition at line 73 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_libpointmatcherOutlierRatio [private]

Definition at line 75 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_maxCorrespondenceDistance [private]

Definition at line 63 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_maxIterations [private]

Definition at line 64 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_maxRotation [private]

Definition at line 60 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_maxTranslation [private]

Definition at line 59 of file RegistrationIcp.h.

bool rtabmap::RegistrationIcp::_pointToPlane [private]

Definition at line 67 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_pointToPlaneK [private]

Definition at line 68 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_pointToPlaneMinComplexity [private]

Definition at line 70 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_pointToPlaneRadius [private]

Definition at line 69 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_voxelSize [private]

Definition at line 61 of file RegistrationIcp.h.

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

• RegistrationIcp.h
• RegistrationIcp.cpp