Public Member Functions | Protected Member Functions | Private Attributes | List of all members
rtabmap::RegistrationIcp Class Reference

#include <RegistrationIcp.h>

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

Public Member Functions

virtual void parseParameters (const ParametersMap &parameters)
 
 RegistrationIcp (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 
virtual ~RegistrationIcp ()
 
- Public Member Functions inherited from rtabmap::Registration
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
 
bool repeatOnce () const
 
void setChildRegistration (Registration *child)
 
virtual ~Registration ()
 

Protected Member Functions

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

Private Attributes

bool _ccFilterOutFarthestPoints
 
double _ccMaxFinalRMS
 
unsigned int _ccSamplingLimit
 
float _correspondenceRatio
 
std::string _debugExportFormat
 
int _downsamplingStep
 
float _epsilon
 
int _filtersEnabled
 
bool _force4DoF
 
std::string _libpointmatcherConfig
 
float _libpointmatcherEpsilon
 
void * _libpointmatcherICP
 
void * _libpointmatcherICPFilters
 
bool _libpointmatcherIntensity
 
int _libpointmatcherKnn
 
float _maxCorrespondenceDistance
 
int _maxIterations
 
float _maxRotation
 
float _maxTranslation
 
float _outlierRatio
 
bool _pointToPlane
 
float _pointToPlaneGroundNormalsUp
 
int _pointToPlaneK
 
int _pointToPlaneLowComplexityStrategy
 
float _pointToPlaneMinComplexity
 
float _pointToPlaneRadius
 
float _rangeMax
 
float _rangeMin
 
bool _reciprocalCorrespondences
 
int _strategy
 
float _voxelSize
 
std::string _workingDir
 

Additional Inherited Members

- Public Types inherited from rtabmap::Registration
enum  Type { kTypeUndef = -1, kTypeVis = 0, kTypeIcp = 1, kTypeVisIcp = 2 }
 
- Static Public Member Functions inherited from rtabmap::Registration
static Registration * create (const ParametersMap &parameters)
 
static Registration * create (Type &type, const ParametersMap &parameters=ParametersMap())
 
- Static Public Attributes inherited from rtabmap::Registration
static double COVARIANCE_ANGULAR_EPSILON = 0.00000003
 
static double COVARIANCE_LINEAR_EPSILON = 0.00000001
 

Detailed Description

Definition at line 39 of file RegistrationIcp.h.

Constructor & Destructor Documentation

◆ RegistrationIcp()

rtabmap::RegistrationIcp::RegistrationIcp ( const ParametersMap &  parameters = ParametersMap(),
Registration *  child = 0 
)

Definition at line 57 of file RegistrationIcp.cpp.

◆ ~RegistrationIcp()

rtabmap::RegistrationIcp::~RegistrationIcp ( )
virtual

Definition at line 94 of file RegistrationIcp.cpp.

Member Function Documentation

◆ canUseGuessImpl()

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

Reimplemented from rtabmap::Registration.

Definition at line 55 of file RegistrationIcp.h.

◆ computeTransformationImpl()

Transform rtabmap::RegistrationIcp::computeTransformationImpl ( Signature &  from,
Signature &  to,
Transform  guess,
RegistrationInfo &  info 
) const
protectedvirtual

Implements rtabmap::Registration.

Definition at line 314 of file RegistrationIcp.cpp.

◆ getMinGeometryCorrespondencesRatioImpl()

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

Reimplemented from rtabmap::Registration.

Definition at line 56 of file RegistrationIcp.h.

◆ isScanRequiredImpl()

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

Reimplemented from rtabmap::Registration.

Definition at line 54 of file RegistrationIcp.h.

◆ parseParameters()

void rtabmap::RegistrationIcp::parseParameters ( const ParametersMap &  parameters)
virtual

Reimplemented from rtabmap::Registration.

Definition at line 102 of file RegistrationIcp.cpp.

Member Data Documentation

◆ _ccFilterOutFarthestPoints

bool rtabmap::RegistrationIcp::_ccFilterOutFarthestPoints
private

Definition at line 85 of file RegistrationIcp.h.

◆ _ccMaxFinalRMS

double rtabmap::RegistrationIcp::_ccMaxFinalRMS
private

Definition at line 86 of file RegistrationIcp.h.

◆ _ccSamplingLimit

unsigned int rtabmap::RegistrationIcp::_ccSamplingLimit
private

Definition at line 84 of file RegistrationIcp.h.

◆ _correspondenceRatio

float rtabmap::RegistrationIcp::_correspondenceRatio
private

Definition at line 70 of file RegistrationIcp.h.

◆ _debugExportFormat

std::string rtabmap::RegistrationIcp::_debugExportFormat
private

Definition at line 87 of file RegistrationIcp.h.

◆ _downsamplingStep

int rtabmap::RegistrationIcp::_downsamplingStep
private

Definition at line 63 of file RegistrationIcp.h.

◆ _epsilon

float rtabmap::RegistrationIcp::_epsilon
private

Definition at line 69 of file RegistrationIcp.h.

◆ _filtersEnabled

int rtabmap::RegistrationIcp::_filtersEnabled
private

Definition at line 72 of file RegistrationIcp.h.

◆ _force4DoF

bool rtabmap::RegistrationIcp::_force4DoF
private

Definition at line 71 of file RegistrationIcp.h.

◆ _libpointmatcherConfig

std::string rtabmap::RegistrationIcp::_libpointmatcherConfig
private

Definition at line 79 of file RegistrationIcp.h.

◆ _libpointmatcherEpsilon

float rtabmap::RegistrationIcp::_libpointmatcherEpsilon
private

Definition at line 81 of file RegistrationIcp.h.

◆ _libpointmatcherICP

void* rtabmap::RegistrationIcp::_libpointmatcherICP
private

Definition at line 90 of file RegistrationIcp.h.

◆ _libpointmatcherICPFilters

void* rtabmap::RegistrationIcp::_libpointmatcherICPFilters
private

Definition at line 91 of file RegistrationIcp.h.

◆ _libpointmatcherIntensity

bool rtabmap::RegistrationIcp::_libpointmatcherIntensity
private

Definition at line 82 of file RegistrationIcp.h.

◆ _libpointmatcherKnn

int rtabmap::RegistrationIcp::_libpointmatcherKnn
private

Definition at line 80 of file RegistrationIcp.h.

◆ _maxCorrespondenceDistance

float rtabmap::RegistrationIcp::_maxCorrespondenceDistance
private

Definition at line 66 of file RegistrationIcp.h.

◆ _maxIterations

int rtabmap::RegistrationIcp::_maxIterations
private

Definition at line 68 of file RegistrationIcp.h.

◆ _maxRotation

float rtabmap::RegistrationIcp::_maxRotation
private

Definition at line 61 of file RegistrationIcp.h.

◆ _maxTranslation

float rtabmap::RegistrationIcp::_maxTranslation
private

Definition at line 60 of file RegistrationIcp.h.

◆ _outlierRatio

float rtabmap::RegistrationIcp::_outlierRatio
private

Definition at line 83 of file RegistrationIcp.h.

◆ _pointToPlane

bool rtabmap::RegistrationIcp::_pointToPlane
private

Definition at line 73 of file RegistrationIcp.h.

◆ _pointToPlaneGroundNormalsUp

float rtabmap::RegistrationIcp::_pointToPlaneGroundNormalsUp
private

Definition at line 76 of file RegistrationIcp.h.

◆ _pointToPlaneK

int rtabmap::RegistrationIcp::_pointToPlaneK
private

Definition at line 74 of file RegistrationIcp.h.

◆ _pointToPlaneLowComplexityStrategy

int rtabmap::RegistrationIcp::_pointToPlaneLowComplexityStrategy
private

Definition at line 78 of file RegistrationIcp.h.

◆ _pointToPlaneMinComplexity

float rtabmap::RegistrationIcp::_pointToPlaneMinComplexity
private

Definition at line 77 of file RegistrationIcp.h.

◆ _pointToPlaneRadius

float rtabmap::RegistrationIcp::_pointToPlaneRadius
private

Definition at line 75 of file RegistrationIcp.h.

◆ _rangeMax

float rtabmap::RegistrationIcp::_rangeMax
private

Definition at line 65 of file RegistrationIcp.h.

◆ _rangeMin

float rtabmap::RegistrationIcp::_rangeMin
private

Definition at line 64 of file RegistrationIcp.h.

◆ _reciprocalCorrespondences

bool rtabmap::RegistrationIcp::_reciprocalCorrespondences
private

Definition at line 67 of file RegistrationIcp.h.

◆ _strategy

int rtabmap::RegistrationIcp::_strategy
private

Definition at line 59 of file RegistrationIcp.h.

◆ _voxelSize

float rtabmap::RegistrationIcp::_voxelSize
private

Definition at line 62 of file RegistrationIcp.h.

◆ _workingDir

std::string rtabmap::RegistrationIcp::_workingDir
private

Definition at line 88 of file RegistrationIcp.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Apr 28 2025 02:46:11