#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 Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
Transform	computeTransformation (const SensorData &from, const SensorData &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_EPSILON = 0.000000001
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

enum rtabmap::Registration::Type

Enumerator:

kTypeUndef
kTypeVis
kTypeIcp
kTypeVisIcp

Definition at line 42 of file Registration.h.

Constructor & Destructor Documentation

rtabmap::Registration::~Registration ( ) [virtual]

Definition at line 74 of file Registration.cpp.

rtabmap::Registration::Registration	(	const ParametersMap &	parameters = `ParametersMap()`,
		Registration *	child = `0`
	)		`[protected]`

Definition at line 66 of file Registration.cpp.

Member Function Documentation

bool rtabmap::Registration::canUseGuess ( ) const

Definition at line 119 of file Registration.cpp.

virtual bool rtabmap::Registration::canUseGuessImpl ( ) const [inline, protected, virtual]

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

Definition at line 105 of file Registration.h.

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

Definition at line 166 of file Registration.cpp.

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

Definition at line 177 of file Registration.cpp.

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

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

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