rtabmap::Registration Class Reference

#include <Registration.h>

Inheritance diagram for rtabmap::Registration:

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 Registration *	create (const ParametersMap &parameters)
static Registration *	create (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
Registration *	child_
bool	force3DoF_
bool	repeatOnce_

Detailed Description

Definition at line 39 of file Registration.h.

Member Enumeration Documentation

Type

enum rtabmap::Registration::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

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

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.

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

• Registration.h
• Registration.cpp