RegistrationIcp.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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27 
28 #ifndef REGISTRATIONICP_H_
29 #define REGISTRATIONICP_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
34 #include <rtabmap/core/Signature.h>
35 
36 namespace rtabmap {
37 
38 // Geometrical registration
40 {
41 public:
42  // take ownership of child
43  RegistrationIcp(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
44  virtual ~RegistrationIcp();
45 
46  virtual void parseParameters(const ParametersMap & parameters);
47 
48 protected:
49  virtual Transform computeTransformationImpl(
50  Signature & from,
51  Signature & to,
52  Transform guess,
53  RegistrationInfo & info) const;
54  virtual bool isScanRequiredImpl() const {return true;}
55  virtual bool canUseGuessImpl() const {return true;}
56  virtual float getMinGeometryCorrespondencesRatioImpl() const {return _correspondenceRatio;}
57 
58 private:
59  int _strategy;
61  float _maxRotation;
62  float _voxelSize;
64  float _rangeMin;
65  float _rangeMax;
68  float _epsilon;
70  bool _force4DoF;
82  unsigned int _ccSamplingLimit;
85  std::string _debugExportFormat;
86  std::string _workingDir;
87 
90 };
91 
92 }
93 
94 #endif /* REGISTRATIONICP_H_ */
virtual float getMinGeometryCorrespondencesRatioImpl() const
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual bool canUseGuessImpl() const
virtual bool isScanRequiredImpl() const
std::string _libpointmatcherConfig


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29