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

#include <RegistrationVis.h>

Inheritance diagram for rtabmap::RegistrationVis:
Inheritance graph
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Public Member Functions

const Feature2D * getDetector () const
 
int getEstimationType () const
 
float getInlierDistance () const
 
int getIterations () const
 
int getMinInliers () const
 
float getNNDR () const
 
int getNNType () const
 
virtual void parseParameters (const ParametersMap &parameters)
 
 RegistrationVis (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 
virtual ~RegistrationVis ()
 
- 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 int getMinVisualCorrespondencesImpl () const
 
virtual bool isImageRequiredImpl () const
 
- Protected Member Functions inherited from rtabmap::Registration
virtual float getMinGeometryCorrespondencesRatioImpl () const
 
virtual bool isScanRequiredImpl () const
 
virtual bool isUserDataRequiredImpl () const
 
 Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 

Private Attributes

int _bundleAdjustment
 
ParametersMap _bundleParameters
 
int _correspondencesApproach
 
bool _depthAsMask
 
Feature2D * _detectorFrom
 
Feature2D * _detectorTo
 
float _epipolarGeometryVar
 
int _estimationType
 
ParametersMap _featureParameters
 
float _flowEps
 
bool _flowGpu
 
int _flowIterations
 
int _flowMaxLevel
 
int _flowWinSize
 
double _gmsThresholdFactor
 
bool _gmsWithRotation
 
bool _gmsWithScale
 
bool _guessMatchToProjection
 
int _guessWinSize
 
float _inlierDistance
 
int _iterations
 
float _maskFloorThreshold
 
float _maxInliersMeanDistance
 
int _minInliers
 
float _minInliersDistributionThr
 
unsigned int _multiSamplingPolicy
 
float _nndr
 
int _nnType
 
int _PnPFlags
 
float _PnPMaxVar
 
int _PnPRefineIterations
 
float _PnPReprojError
 
bool _PnPSplitLinearCovarianceComponents
 
int _PnPVarMedianRatio
 
int _refineIterations
 

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 45 of file RegistrationVis.h.

Constructor & Destructor Documentation

◆ RegistrationVis()

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

Definition at line 66 of file RegistrationVis.cpp.

◆ ~RegistrationVis()

rtabmap::RegistrationVis::~RegistrationVis ( )
virtual

Definition at line 296 of file RegistrationVis.cpp.

Member Function Documentation

◆ canUseGuessImpl()

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

Reimplemented from rtabmap::Registration.

Definition at line 71 of file RegistrationVis.h.

◆ computeTransformationImpl()

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

Implements rtabmap::Registration.

Definition at line 305 of file RegistrationVis.cpp.

◆ getDetector()

const Feature2D* rtabmap::RegistrationVis::getDetector ( ) const
inline

Definition at line 61 of file RegistrationVis.h.

◆ getEstimationType()

int rtabmap::RegistrationVis::getEstimationType ( ) const
inline

Definition at line 59 of file RegistrationVis.h.

◆ getInlierDistance()

float rtabmap::RegistrationVis::getInlierDistance ( ) const
inline

Definition at line 54 of file RegistrationVis.h.

◆ getIterations()

int rtabmap::RegistrationVis::getIterations ( ) const
inline

Definition at line 55 of file RegistrationVis.h.

◆ getMinInliers()

int rtabmap::RegistrationVis::getMinInliers ( ) const
inline

Definition at line 56 of file RegistrationVis.h.

◆ getMinVisualCorrespondencesImpl()

virtual int rtabmap::RegistrationVis::getMinVisualCorrespondencesImpl ( ) const
inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 72 of file RegistrationVis.h.

◆ getNNDR()

float rtabmap::RegistrationVis::getNNDR ( ) const
inline

Definition at line 58 of file RegistrationVis.h.

◆ getNNType()

int rtabmap::RegistrationVis::getNNType ( ) const
inline

Definition at line 57 of file RegistrationVis.h.

◆ isImageRequiredImpl()

virtual bool rtabmap::RegistrationVis::isImageRequiredImpl ( ) const
inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 70 of file RegistrationVis.h.

◆ parseParameters()

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

Reimplemented from rtabmap::Registration.

Definition at line 125 of file RegistrationVis.cpp.

Member Data Documentation

◆ _bundleAdjustment

int rtabmap::RegistrationVis::_bundleAdjustment
private

Definition at line 101 of file RegistrationVis.h.

◆ _bundleParameters

ParametersMap rtabmap::RegistrationVis::_bundleParameters
private

Definition at line 108 of file RegistrationVis.h.

◆ _correspondencesApproach

int rtabmap::RegistrationVis::_correspondencesApproach
private

Definition at line 88 of file RegistrationVis.h.

◆ _depthAsMask

bool rtabmap::RegistrationVis::_depthAsMask
private

Definition at line 102 of file RegistrationVis.h.

◆ _detectorFrom

Feature2D* rtabmap::RegistrationVis::_detectorFrom
private

Definition at line 110 of file RegistrationVis.h.

◆ _detectorTo

Feature2D* rtabmap::RegistrationVis::_detectorTo
private

Definition at line 111 of file RegistrationVis.h.

◆ _epipolarGeometryVar

float rtabmap::RegistrationVis::_epipolarGeometryVar
private

Definition at line 79 of file RegistrationVis.h.

◆ _estimationType

int rtabmap::RegistrationVis::_estimationType
private

Definition at line 80 of file RegistrationVis.h.

◆ _featureParameters

ParametersMap rtabmap::RegistrationVis::_featureParameters
private

Definition at line 107 of file RegistrationVis.h.

◆ _flowEps

float rtabmap::RegistrationVis::_flowEps
private

Definition at line 91 of file RegistrationVis.h.

◆ _flowGpu

bool rtabmap::RegistrationVis::_flowGpu
private

Definition at line 93 of file RegistrationVis.h.

◆ _flowIterations

int rtabmap::RegistrationVis::_flowIterations
private

Definition at line 90 of file RegistrationVis.h.

◆ _flowMaxLevel

int rtabmap::RegistrationVis::_flowMaxLevel
private

Definition at line 92 of file RegistrationVis.h.

◆ _flowWinSize

int rtabmap::RegistrationVis::_flowWinSize
private

Definition at line 89 of file RegistrationVis.h.

◆ _gmsThresholdFactor

double rtabmap::RegistrationVis::_gmsThresholdFactor
private

Definition at line 98 of file RegistrationVis.h.

◆ _gmsWithRotation

bool rtabmap::RegistrationVis::_gmsWithRotation
private

Definition at line 96 of file RegistrationVis.h.

◆ _gmsWithScale

bool rtabmap::RegistrationVis::_gmsWithScale
private

Definition at line 97 of file RegistrationVis.h.

◆ _guessMatchToProjection

bool rtabmap::RegistrationVis::_guessMatchToProjection
private

Definition at line 100 of file RegistrationVis.h.

◆ _guessWinSize

int rtabmap::RegistrationVis::_guessWinSize
private

Definition at line 99 of file RegistrationVis.h.

◆ _inlierDistance

float rtabmap::RegistrationVis::_inlierDistance
private

Definition at line 76 of file RegistrationVis.h.

◆ _iterations

int rtabmap::RegistrationVis::_iterations
private

Definition at line 77 of file RegistrationVis.h.

◆ _maskFloorThreshold

float rtabmap::RegistrationVis::_maskFloorThreshold
private

Definition at line 103 of file RegistrationVis.h.

◆ _maxInliersMeanDistance

float rtabmap::RegistrationVis::_maxInliersMeanDistance
private

Definition at line 105 of file RegistrationVis.h.

◆ _minInliers

int rtabmap::RegistrationVis::_minInliers
private

Definition at line 75 of file RegistrationVis.h.

◆ _minInliersDistributionThr

float rtabmap::RegistrationVis::_minInliersDistributionThr
private

Definition at line 104 of file RegistrationVis.h.

◆ _multiSamplingPolicy

unsigned int rtabmap::RegistrationVis::_multiSamplingPolicy
private

Definition at line 87 of file RegistrationVis.h.

◆ _nndr

float rtabmap::RegistrationVis::_nndr
private

Definition at line 94 of file RegistrationVis.h.

◆ _nnType

int rtabmap::RegistrationVis::_nnType
private

Definition at line 95 of file RegistrationVis.h.

◆ _PnPFlags

int rtabmap::RegistrationVis::_PnPFlags
private

Definition at line 82 of file RegistrationVis.h.

◆ _PnPMaxVar

float rtabmap::RegistrationVis::_PnPMaxVar
private

Definition at line 85 of file RegistrationVis.h.

◆ _PnPRefineIterations

int rtabmap::RegistrationVis::_PnPRefineIterations
private

Definition at line 83 of file RegistrationVis.h.

◆ _PnPReprojError

float rtabmap::RegistrationVis::_PnPReprojError
private

Definition at line 81 of file RegistrationVis.h.

◆ _PnPSplitLinearCovarianceComponents

bool rtabmap::RegistrationVis::_PnPSplitLinearCovarianceComponents
private

Definition at line 86 of file RegistrationVis.h.

◆ _PnPVarMedianRatio

int rtabmap::RegistrationVis::_PnPVarMedianRatio
private

Definition at line 84 of file RegistrationVis.h.

◆ _refineIterations

int rtabmap::RegistrationVis::_refineIterations
private

Definition at line 78 of file RegistrationVis.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