RegistrationVis.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
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8  notice, this list of conditions and the following disclaimer.
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10  notice, this list of conditions and the following disclaimer in the
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26 */
27 
28 #ifndef REGISTRATIONVIS_H_
29 #define REGISTRATIONVIS_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
34 #include <rtabmap/core/Signature.h>
35 
36 namespace rtabmap {
37 
38 class Feature2D;
39 
40 #ifdef RTABMAP_PYMATCHER
41 class PyMatcher;
42 #endif
43 
44 // Visual registration
46 {
47 public:
48  // take ownership of child
49  RegistrationVis(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
50  virtual ~RegistrationVis();
51 
52  virtual void parseParameters(const ParametersMap & parameters);
53 
54  float getInlierDistance() const {return _inlierDistance;}
55  int getIterations() const {return _iterations;}
56  int getMinInliers() const {return _minInliers;}
57  int getNNType() const {return _nnType;}
58  float getNNDR() const {return _nndr;}
59  int getEstimationType() const {return _estimationType;}
60 
61  const Feature2D * getDetector() const {return _detectorFrom;}
62 
63 protected:
64  virtual Transform computeTransformationImpl(
65  Signature & from,
66  Signature & to,
67  Transform guess,
68  RegistrationInfo & info) const;
69 
70  virtual bool isImageRequiredImpl() const {return true;}
71  virtual bool canUseGuessImpl() const {return _correspondencesApproach != 0 || _guessWinSize>0;}
72  virtual int getMinVisualCorrespondencesImpl() const {return _minInliers;}
73 
74 private:
83  int _PnPFlags;
88  float _flowEps;
90  float _nndr;
91  int _nnType;
101 
104 
107 
108 #ifdef RTABMAP_PYMATCHER
109  PyMatcher * _pyMatcher;
110 #endif
111 };
112 
113 }
114 
115 #endif /* REGISTRATION_H_ */
ParametersMap _bundleParameters
virtual bool canUseGuessImpl() const
const Feature2D * getDetector() const
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual int getMinVisualCorrespondencesImpl() const
int getEstimationType() const
ParametersMap _featureParameters
virtual bool isImageRequiredImpl() const
float getInlierDistance() const


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:35:00