Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Member Functions | Private Attributes | List of all members
rtabmap::Registration Class Referenceabstract

#include <Registration.h>

Inheritance diagram for rtabmap::Registration:
Inheritance graph
[legend]

Public Types

enum  Type { kTypeUndef = -1, kTypeVis = 0, kTypeIcp = 1, kTypeVisIcp = 2 }
 

Public Member Functions

bool canUseGuess () const
 
Transform computeTransformation (const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 
Transform computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 
Transform computeTransformationMod (Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 
bool force3DoF () const
 
float getMinGeometryCorrespondencesRatio () const
 
int getMinVisualCorrespondences () const
 
bool isImageRequired () const
 
bool isScanRequired () const
 
bool isUserDataRequired () const
 
virtual void parseParameters (const ParametersMap &parameters)
 
bool repeatOnce () const
 
void setChildRegistration (Registration *child)
 
virtual ~Registration ()
 

Static Public Member Functions

static Registrationcreate (const ParametersMap &parameters)
 
static Registrationcreate (Type &type, const ParametersMap &parameters=ParametersMap())
 

Static Public Attributes

static double COVARIANCE_ANGULAR_EPSILON = 0.00000003
 
static double COVARIANCE_LINEAR_EPSILON = 0.00000001
 

Protected Member Functions

virtual bool canUseGuessImpl () const
 
virtual Transform computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const =0
 
virtual float getMinGeometryCorrespondencesRatioImpl () const
 
virtual int getMinVisualCorrespondencesImpl () const
 
virtual bool isImageRequiredImpl () const
 
virtual bool isScanRequiredImpl () const
 
virtual bool isUserDataRequiredImpl () const
 
 Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 

Private Attributes

Registrationchild_
 
bool force3DoF_
 
bool repeatOnce_
 

Detailed Description

Definition at line 39 of file Registration.h.

Member Enumeration Documentation

◆ Type

Enumerator
kTypeUndef 
kTypeVis 
kTypeIcp 
kTypeVisIcp 

Definition at line 42 of file Registration.h.

Constructor & Destructor Documentation

◆ ~Registration()

rtabmap::Registration::~Registration ( )
virtual

Definition at line 75 of file Registration.cpp.

◆ Registration()

rtabmap::Registration::Registration ( const ParametersMap parameters = ParametersMap(),
Registration child = 0 
)
protected

Definition at line 67 of file Registration.cpp.

Member Function Documentation

◆ canUseGuess()

bool rtabmap::Registration::canUseGuess ( ) const

Definition at line 120 of file Registration.cpp.

◆ canUseGuessImpl()

virtual bool rtabmap::Registration::canUseGuessImpl ( ) const
inlineprotectedvirtual

Reimplemented in rtabmap::RegistrationVis, and rtabmap::RegistrationIcp.

Definition at line 106 of file Registration.h.

◆ computeTransformation() [1/2]

Transform rtabmap::Registration::computeTransformation ( const SensorData from,
const SensorData to,
Transform  guess = Transform::getIdentity(),
RegistrationInfo info = 0 
) const

Definition at line 178 of file Registration.cpp.

◆ computeTransformation() [2/2]

Transform rtabmap::Registration::computeTransformation ( const Signature from,
const Signature to,
Transform  guess = Transform::getIdentity(),
RegistrationInfo info = 0 
) const

Definition at line 167 of file Registration.cpp.

◆ computeTransformationImpl()

virtual Transform rtabmap::Registration::computeTransformationImpl ( Signature from,
Signature to,
Transform  guess,
RegistrationInfo info 
) const
protectedpure virtual

◆ computeTransformationMod()

Transform rtabmap::Registration::computeTransformationMod ( Signature from,
Signature to,
Transform  guess = Transform::getIdentity(),
RegistrationInfo info = 0 
) const

Definition at line 189 of file Registration.cpp.

◆ create() [1/2]

Registration * rtabmap::Registration::create ( const ParametersMap parameters)
static

Definition at line 39 of file Registration.cpp.

◆ create() [2/2]

static Registration* rtabmap::Registration::create ( Type type,
const ParametersMap parameters = ParametersMap() 
)
static

◆ force3DoF()

bool rtabmap::Registration::force3DoF ( ) const
inline

Definition at line 69 of file Registration.h.

◆ getMinGeometryCorrespondencesRatio()

float rtabmap::Registration::getMinGeometryCorrespondencesRatio ( ) const

Definition at line 144 of file Registration.cpp.

◆ getMinGeometryCorrespondencesRatioImpl()

virtual float rtabmap::Registration::getMinGeometryCorrespondencesRatioImpl ( ) const
inlineprotectedvirtual

Reimplemented in rtabmap::RegistrationIcp.

Definition at line 108 of file Registration.h.

◆ getMinVisualCorrespondences()

int rtabmap::Registration::getMinVisualCorrespondences ( ) const

Definition at line 130 of file Registration.cpp.

◆ getMinVisualCorrespondencesImpl()

virtual int rtabmap::Registration::getMinVisualCorrespondencesImpl ( ) const
inlineprotectedvirtual

Reimplemented in rtabmap::RegistrationVis.

Definition at line 107 of file Registration.h.

◆ isImageRequired()

bool rtabmap::Registration::isImageRequired ( ) const

Definition at line 90 of file Registration.cpp.

◆ isImageRequiredImpl()

virtual bool rtabmap::Registration::isImageRequiredImpl ( ) const
inlineprotectedvirtual

Reimplemented in rtabmap::RegistrationVis.

Definition at line 103 of file Registration.h.

◆ isScanRequired()

bool rtabmap::Registration::isScanRequired ( ) const

Definition at line 100 of file Registration.cpp.

◆ isScanRequiredImpl()

virtual bool rtabmap::Registration::isScanRequiredImpl ( ) const
inlineprotectedvirtual

Reimplemented in rtabmap::RegistrationIcp.

Definition at line 104 of file Registration.h.

◆ isUserDataRequired()

bool rtabmap::Registration::isUserDataRequired ( ) const

Definition at line 110 of file Registration.cpp.

◆ isUserDataRequiredImpl()

virtual bool rtabmap::Registration::isUserDataRequiredImpl ( ) const
inlineprotectedvirtual

Definition at line 105 of file Registration.h.

◆ parseParameters()

void rtabmap::Registration::parseParameters ( const ParametersMap parameters)
virtual

Reimplemented in rtabmap::RegistrationVis, and rtabmap::RegistrationIcp.

Definition at line 79 of file Registration.cpp.

◆ repeatOnce()

bool rtabmap::Registration::repeatOnce ( ) const
inline

Definition at line 68 of file Registration.h.

◆ setChildRegistration()

void rtabmap::Registration::setChildRegistration ( Registration child)

Definition at line 158 of file Registration.cpp.

Member Data Documentation

◆ child_

Registration* rtabmap::Registration::child_
private

Definition at line 113 of file Registration.h.

◆ COVARIANCE_ANGULAR_EPSILON

double rtabmap::Registration::COVARIANCE_ANGULAR_EPSILON = 0.00000003
static

Definition at line 49 of file Registration.h.

◆ COVARIANCE_LINEAR_EPSILON

double rtabmap::Registration::COVARIANCE_LINEAR_EPSILON = 0.00000001
static

Definition at line 48 of file Registration.h.

◆ force3DoF_

bool rtabmap::Registration::force3DoF_
private

Definition at line 112 of file Registration.h.

◆ repeatOnce_

bool rtabmap::Registration::repeatOnce_
private

Definition at line 111 of file Registration.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:28