RegistrationIcp.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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8  notice, this list of conditions and the following disclaimer.
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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:
60  float _maxRotation;
61  float _voxelSize;
65  float _epsilon;
77 };
78 
79 }
80 
81 #endif /* REGISTRATIONICP_H_ */
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:41
virtual bool canUseGuessImpl() const
virtual bool isScanRequiredImpl() const
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual float getMinGeometryCorrespondencesRatioImpl() const
std::string _libpointmatcherConfig


rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:41:32