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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef REGISTRATIONVIS_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define REGISTRATIONVIS_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < rtabmap/core/Registration.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < rtabmap/core/Signature.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span > </ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span > </ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "keyword" > class </ span > Feature2D;</ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span > </ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #ifdef RTABMAP_PYTHON</ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "keyword" > class </ span > PyMatcher;</ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > </ div >
< div class = "foldopen" id = "foldopen00060" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html" > 60</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1RegistrationVis.html" > RegistrationVis</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Registration.html" > Registration</ a ></ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > {</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03" > 64</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03" > RegistrationVis</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > (), < a class = "code hl_class" href = "classrtabmap_1_1Registration.html" > Registration</ a > * child = 0);</ div >
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< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1RegistrationVis.html" > ~RegistrationVis</ a > ();</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > </ div >
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< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e" > 68</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e" > parseParameters</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
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< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > </ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2" > 71</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2" > getInlierDistance</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _inlierDistance;}</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834" > 73</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834" > getIterations</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _iterations;}</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4" > 75</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4" > getMinInliers</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _minInliers;}</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347" > 77</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347" > getNNType</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _nnType;}</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a" > 79</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a" > getNNDR</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _nndr;}</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31" > 81</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31" > getEstimationType</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _estimationType;}</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > </ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55" > 84</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > * < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55" > getDetector</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _detectorFrom;}</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > </ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span >< span class = "keyword" > protected</ span > :</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f" > 87</ a ></ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f" > computeTransformationImpl</ a > (</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > < a class = "code hl_class" href = "classrtabmap_1_1Signature.html" > Signature</ a > & from,</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > < a class = "code hl_class" href = "classrtabmap_1_1Signature.html" > Signature</ a > & to,</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > guess,</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span > < a class = "code hl_class" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > & info) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > </ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > isImageRequiredImpl()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > < span class = "keyword" > true</ span > ;}</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > canUseGuessImpl()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _correspondencesApproach != 0 || _guessWinSize> 0;}</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getMinVisualCorrespondencesImpl()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _minInliers;}</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > </ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > < span class = "keywordtype" > int</ span > _minInliers;</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > < span class = "keywordtype" > float</ span > _inlierDistance;</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > < span class = "keywordtype" > int</ span > _iterations;</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > < span class = "keywordtype" > int</ span > _refineIterations;</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span > < span class = "keywordtype" > float</ span > _epipolarGeometryVar;</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span > < span class = "keywordtype" > int</ span > _estimationType;</ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span > < span class = "keywordtype" > float</ span > _PnPReprojError;</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > < span class = "keywordtype" > int</ span > _PnPFlags;</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > < span class = "keywordtype" > int</ span > _PnPRefineIterations;</ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > < span class = "keywordtype" > int</ span > _PnPVarMedianRatio;</ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span > < span class = "keywordtype" > float</ span > _PnPMaxVar;</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > < span class = "keywordtype" > bool</ span > _PnPSplitLinearCovarianceComponents;</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _multiSamplingPolicy;</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > < span class = "keywordtype" > int</ span > _correspondencesApproach;</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "keywordtype" > int</ span > _flowWinSize;</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > < span class = "keywordtype" > int</ span > _flowIterations;</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > < span class = "keywordtype" > float</ span > _flowEps;</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > < span class = "keywordtype" > int</ span > _flowMaxLevel;</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > < span class = "keywordtype" > bool</ span > _flowGpu;</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > < span class = "keywordtype" > bool</ span > _flowUseMinEigenVals;</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > < span class = "keywordtype" > float</ span > _flowMinEigThreshold;</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > < span class = "keywordtype" > float</ span > _flowErrorThreshold;</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > < span class = "keywordtype" > float</ span > _nndr;</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > < span class = "keywordtype" > int</ span > _nnType;</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > < span class = "keywordtype" > bool</ span > _gmsWithRotation;</ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > < span class = "keywordtype" > bool</ span > _gmsWithScale;</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > < span class = "keywordtype" > double</ span > _gmsThresholdFactor;</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > < span class = "keywordtype" > int</ span > _guessWinSize;</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keywordtype" > bool</ span > _guessMatchToProjection;</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > < span class = "keywordtype" > int</ span > _bundleAdjustment;</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > < span class = "keywordtype" > bool</ span > _depthAsMask;</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > < span class = "keywordtype" > float</ span > _maskFloorThreshold;</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > < span class = "keywordtype" > float</ span > _minInliersDistributionThr;</ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordtype" > float</ span > _maxInliersMeanDistance;</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > </ div >
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< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > _featureParameters;</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > _bundleParameters;</ div >
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< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > </ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > Feature2D * _detectorFrom;</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > Feature2D * _detectorTo;</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > </ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span >< span class = "preprocessor" > #ifdef RTABMAP_PYTHON</ span ></ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > PyMatcher * _pyMatcher;</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > </ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > }</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > </ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* REGISTRATION_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html" > rtabmap::Feature2D</ a ></ div >< div class = "ttdoc" > Abstract 2D feature detector and descriptor extractor for visual SLAM.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00145" > Features2d.h:145</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html" > rtabmap::RegistrationInfo</ a ></ div >< div class = "ttdoc" > Statistics and diagnostics returned by Registration.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00047" > RegistrationInfo.h:48</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html" > rtabmap::RegistrationVis</ a ></ div >< div class = "ttdoc" > Visual registration between two signatures using features and geometry.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00060" > RegistrationVis.h:61</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_a0a860fb3509b4c5b135b66ebd5cd6e55" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55" > rtabmap::RegistrationVis::getDetector</ a ></ div >< div class = "ttdeci" > const Feature2D * getDetector() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00084" > RegistrationVis.h:84</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_a488ecb8a7423996abdad98b0044cd7f2" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2" > rtabmap::RegistrationVis::getInlierDistance</ a ></ div >< div class = "ttdeci" > float getInlierDistance() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00071" > RegistrationVis.h:71</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_a6560046940995044d7a51cb0066d420e" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e" > rtabmap::RegistrationVis::parseParameters</ a ></ div >< div class = "ttdeci" > virtual void parseParameters(const ParametersMap & parameters)</ div >< div class = "ttdoc" > Parses Vis/ and feature parameters; recreates feature detectors.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_a697d562bebe30b73a1ecd34dabee4347" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347" > rtabmap::RegistrationVis::getNNType</ a ></ div >< div class = "ttdeci" > int getNNType() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00077" > RegistrationVis.h:77</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_a93331add1822dd6f02bc74efec6d6834" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834" > rtabmap::RegistrationVis::getIterations</ a ></ div >< div class = "ttdeci" > int getIterations() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00073" > RegistrationVis.h:73</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_a951c79dd9be75b896c551e5213c0ee31" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31" > rtabmap::RegistrationVis::getEstimationType</ a ></ div >< div class = "ttdeci" > int getEstimationType() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00081" > RegistrationVis.h:81</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_aa47fd3a0599ee918e024161db330a92f" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f" > rtabmap::RegistrationVis::computeTransformationImpl</ a ></ div >< div class = "ttdeci" > virtual Transform computeTransformationImpl(Signature & from, Signature & to, Transform guess, RegistrationInfo & info) const</ div >< div class = "ttdoc" > Strategy-specific registration.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_aa845f7fbbfc8fc340dba96a2a6550d03" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03" > rtabmap::RegistrationVis::RegistrationVis</ a ></ div >< div class = "ttdeci" > RegistrationVis(const ParametersMap & parameters=ParametersMap(), Registration *child=0)</ div >< div class = "ttdoc" > child is owned and deleted in the destructor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_ae951e95c4ae2ea1ab5c4d849823d66c4" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4" > rtabmap::RegistrationVis::getMinInliers</ a ></ div >< div class = "ttdeci" > int getMinInliers() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00075" > RegistrationVis.h:75</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationVis_html_aed9e9e593b290a4be1aeda05967a631a" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a" > rtabmap::RegistrationVis::getNNDR</ a ></ div >< div class = "ttdeci" > float getNNDR() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationVis_8h_source.html#l00079" > RegistrationVis.h:79</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Registration_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a ></ div >< div class = "ttdoc" > Abstract base for registering two observations (visual, ICP, or both).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Registration_8h_source.html#l00060" > Registration.h:61</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Signature_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Signature.html" > rtabmap::Signature</ a ></ div >< div class = "ttdoc" > Represents a node in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Signature_8h_source.html#l00083" > Signature.h:84</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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