28 #ifndef REGISTRATIONVIS_H_ 29 #define REGISTRATIONVIS_H_ 40 #ifdef RTABMAP_PYMATCHER 52 virtual void parseParameters(
const ParametersMap & parameters);
64 virtual Transform computeTransformationImpl(
71 virtual bool canUseGuessImpl()
const {
return _correspondencesApproach != 0 || _guessWinSize>0;}
108 #ifdef RTABMAP_PYMATCHER float _minInliersDistributionThr
float _maxInliersMeanDistance
int _correspondencesApproach
ParametersMap _bundleParameters
bool _guessMatchToProjection
virtual bool canUseGuessImpl() const
bool _forwardEstimateOnly
const Feature2D * getDetector() const
float _epipolarGeometryVar
std::map< std::string, std::string > ParametersMap
Feature2D * _detectorFrom
virtual int getMinVisualCorrespondencesImpl() const
int getEstimationType() const
double _gmsThresholdFactor
ParametersMap _featureParameters
virtual bool isImageRequiredImpl() const
float getInlierDistance() const
int getIterations() const
int getMinInliers() const