rtabmap::Registration Class Reference

#include <Registration.h>

Inheritance diagram for rtabmap::Registration:

List of all members.

Public Types
enum	Type { kTypeUndef = -1, kTypeVis = 0, kTypeIcp = 1, kTypeVisIcp = 2 }
Public Member Functions
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 SensorData=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)
void	setChildRegistration (Registration *child)
bool	varianceFromInliersCount () const
virtual	~Registration ()
Static Public Member Functions
static Registration *	create (const ParametersMap &parameters)
static Registration *	create (Type &type, const ParametersMap &parameters=ParametersMap())
Protected Member Functions
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	varianceFromInliersCount_

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Detailed Description

Definition at line 39 of file Registration.h.

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Member Enumeration Documentation

enum rtabmap::Registration::Type

Enumerator:

kTypeUndef
kTypeVis
kTypeIcp
kTypeVisIcp

Definition at line 42 of file Registration.h.

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Constructor & Destructor Documentation

rtabmap::Registration::~Registration

(

)

[virtual]

Definition at line 71 of file Registration.cpp.

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

Definition at line 63 of file Registration.cpp.

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Member Function Documentation

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

Definition at line 155 of file Registration.cpp.

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

Definition at line 166 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

Definition at line 177 of file Registration.cpp.

Registration * rtabmap::Registration::create

(

const ParametersMap &

parameters

)

[static]

Definition at line 35 of file Registration.cpp.

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

Definition at line 43 of file Registration.cpp.

bool rtabmap::Registration::force3DoF

(

)

const [inline]

Definition at line 65 of file Registration.h.

float rtabmap::Registration::getMinGeometryCorrespondencesRatio

(

)

const

Definition at line 132 of file Registration.cpp.

virtual float rtabmap::Registration::getMinGeometryCorrespondencesRatioImpl

(

)

const [inline, protected, virtual]

Reimplemented in rtabmap::RegistrationIcp.

Definition at line 103 of file Registration.h.

int rtabmap::Registration::getMinVisualCorrespondences

(

)

const

Definition at line 118 of file Registration.cpp.

virtual int rtabmap::Registration::getMinVisualCorrespondencesImpl

(

)

const [inline, protected, virtual]

Reimplemented in rtabmap::RegistrationVis.

Definition at line 102 of file Registration.h.

bool rtabmap::Registration::isImageRequired

(

)

const

Definition at line 88 of file Registration.cpp.

virtual bool rtabmap::Registration::isImageRequiredImpl

(

)

const [inline, protected, virtual]

Reimplemented in rtabmap::RegistrationVis.

Definition at line 99 of file Registration.h.

bool rtabmap::Registration::isScanRequired

(

)

const

Definition at line 98 of file Registration.cpp.

virtual bool rtabmap::Registration::isScanRequiredImpl

(

)

const [inline, protected, virtual]

Reimplemented in rtabmap::RegistrationIcp.

Definition at line 100 of file Registration.h.

bool rtabmap::Registration::isUserDataRequired

(

)

const

Definition at line 108 of file Registration.cpp.

virtual bool rtabmap::Registration::isUserDataRequiredImpl

(

)

const [inline, protected, virtual]

Definition at line 101 of file Registration.h.

void rtabmap::Registration::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

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

Definition at line 78 of file Registration.cpp.

void rtabmap::Registration::setChildRegistration

(

Registration *

child

)

Definition at line 146 of file Registration.cpp.

bool rtabmap::Registration::varianceFromInliersCount

(

)

const [inline]

Definition at line 64 of file Registration.h.

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Member Data Documentation

Registration* rtabmap::Registration::child_ [private]

Definition at line 108 of file Registration.h.

bool rtabmap::Registration::force3DoF_ [private]

Definition at line 107 of file Registration.h.

bool rtabmap::Registration::varianceFromInliersCount_ [private]

Definition at line 106 of file Registration.h.

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

• Registration.h
• Registration.cpp