#include <RegistrationIcp.h>

Inheritance diagram for rtabmap::RegistrationIcp:

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 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

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
float	_correspondenceRatio

int	_downsamplingStep

float	_epsilon

bool	_libpointmatcher

std::string	_libpointmatcherConfig

float	_libpointmatcherEpsilon

void *	_libpointmatcherICP

bool	_libpointmatcherIntensity

int	_libpointmatcherKnn

float	_libpointmatcherOutlierRatio

float	_maxCorrespondenceDistance

int	_maxIterations

float	_maxRotation

float	_maxTranslation

bool	_pointToPlane

float	_pointToPlaneGroundNormalsUp

int	_pointToPlaneK

int	_pointToPlaneLowComplexityStrategy

float	_pointToPlaneMinComplexity

float	_pointToPlaneRadius

float	_rangeMax

float	_rangeMin

float	_voxelSize

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_EPSILON = 0.000000001

Detailed Description

Definition at line 39 of file RegistrationIcp.h.

Constructor & Destructor Documentation

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

Definition at line 473 of file RegistrationIcp.cpp.

rtabmap::RegistrationIcp::~RegistrationIcp ( )

virtual

Definition at line 502 of file RegistrationIcp.cpp.

Member Function Documentation

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

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 55 of file RegistrationIcp.h.

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

protectedvirtual

Implements rtabmap::Registration.

Definition at line 660 of file RegistrationIcp.cpp.

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

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 56 of file RegistrationIcp.h.

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

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 54 of file RegistrationIcp.h.

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

virtual

Reimplemented from rtabmap::Registration.

Definition at line 509 of file RegistrationIcp.cpp.

Member Data Documentation

float rtabmap::RegistrationIcp::_correspondenceRatio

private

Definition at line 68 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_downsamplingStep

private

Definition at line 62 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_epsilon

private

Definition at line 67 of file RegistrationIcp.h.

bool rtabmap::RegistrationIcp::_libpointmatcher

private

Definition at line 75 of file RegistrationIcp.h.

std::string rtabmap::RegistrationIcp::_libpointmatcherConfig

private

Definition at line 76 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_libpointmatcherEpsilon

private

Definition at line 78 of file RegistrationIcp.h.

void* rtabmap::RegistrationIcp::_libpointmatcherICP

private

Definition at line 81 of file RegistrationIcp.h.

bool rtabmap::RegistrationIcp::_libpointmatcherIntensity

private

Definition at line 79 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_libpointmatcherKnn

private

Definition at line 77 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_libpointmatcherOutlierRatio

private

Definition at line 80 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_maxCorrespondenceDistance

private

Definition at line 65 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_maxIterations

private

Definition at line 66 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_maxRotation

private

Definition at line 60 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_maxTranslation

private

Definition at line 59 of file RegistrationIcp.h.

bool rtabmap::RegistrationIcp::_pointToPlane

private

Definition at line 69 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_pointToPlaneGroundNormalsUp

private

Definition at line 72 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_pointToPlaneK

private

Definition at line 70 of file RegistrationIcp.h.

int rtabmap::RegistrationIcp::_pointToPlaneLowComplexityStrategy

private

Definition at line 74 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_pointToPlaneMinComplexity

private

Definition at line 73 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_pointToPlaneRadius

private

Definition at line 71 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_rangeMax

private

Definition at line 64 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_rangeMin

private

Definition at line 63 of file RegistrationIcp.h.

float rtabmap::RegistrationIcp::_voxelSize

private

Definition at line 61 of file RegistrationIcp.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation