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< a href = "#pub-types" > Public Types</ a > |
< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "#pub-static-attribs" > Static Public Attributes</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1Registration-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::Registration Class Reference< span class = "mlabels" >< span class = "mlabel" > abstract</ span ></ span ></ div ></ div >
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< p > Abstract base for registering two observations (visual, ICP, or both).
< a href = "classrtabmap_1_1Registration.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > > </ code ></ p >
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Inheritance diagram for rtabmap::Registration:</ div >
< div class = "dyncontent" >
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< area shape = "rect" title = "Abstract base for registering two observations (visual, ICP, or both)." alt = "" coords = "119,5,283,31" />
< area shape = "rect" href = "classrtabmap_1_1RegistrationIcp.html" title = " " alt = "" coords = "5,79,188,104" />
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< area shape = "rect" href = "classrtabmap_1_1RegistrationVis.html" title = "Visual registration between two signatures using features and geometry." alt = "" coords = "213,79,397,104" />
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-types" name = "pub-types" ></ a >
Public Types</ h2 ></ td ></ tr >
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< tr class = "memitem:ae693713cd8b7ece4b147eae99880b849" id = "r_ae693713cd8b7ece4b147eae99880b849" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849" > Type</ a > { < a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a1e25205ebb65fe2315a0b7050e613c6d" > kTypeUndef</ a > = -1
, < a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724" > kTypeVis</ a > = 0
, < a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8638e369c895a337f587e727e1a712ab" > kTypeIcp</ a > = 1
, < a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849ad03189dad590b6e2d81adbc7d20bf662" > kTypeVisIcp</ a > = 2
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}</ td ></ tr >
< tr class = "memdesc:ae693713cd8b7ece4b147eae99880b849" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1Registration.html" title = "Abstract base for registering two observations (visual, ICP, or both)." > Registration</ a > strategy selected by < b > Reg/Strategy</ b > . < a href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:ae693713cd8b7ece4b147eae99880b849" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
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< tr class = "memitem:a0f409a8f0973667ef1687fe102bbf930" id = "r_a0f409a8f0973667ef1687fe102bbf930" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a0f409a8f0973667ef1687fe102bbf930" > parseParameters</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:a0f409a8f0973667ef1687fe102bbf930" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Parses < b > Reg/RepeatOnce</ b > , < b > Reg/Force3DoF</ b > and forwards to the child registration if set. < br /></ td ></ tr >
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< tr class = "separator:a0f409a8f0973667ef1687fe102bbf930" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isImageRequired</ b > () const</ td ></ tr >
< tr class = "memdesc:ae10ae7b6dbf4d5396db66600ebe18228" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if images are needed (parent or child). < br /></ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScanRequired</ b > () const</ td ></ tr >
< tr class = "memdesc:aa0748ad5a576d0919ef0d360137e5ea7" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if laser scans are needed (parent or child). < br /></ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isUserDataRequired</ b > () const</ td ></ tr >
< tr class = "memdesc:a3cd064c74588fd13cce178596e188b5d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if user data is needed (parent or child). < br /></ td ></ tr >
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< tr class = "memitem:ab000f795ec498882585a634c2dafec05" id = "r_ab000f795ec498882585a634c2dafec05" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ab000f795ec498882585a634c2dafec05" name = "ab000f795ec498882585a634c2dafec05" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > canUseGuess</ b > () const</ td ></ tr >
< tr class = "memdesc:ab000f795ec498882585a634c2dafec05" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if the strategy can refine an initial guess (parent or child). < br /></ td ></ tr >
< tr class = "separator:ab000f795ec498882585a634c2dafec05" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abc02df4842af900fbb5da75b8e5318e0" id = "r_abc02df4842af900fbb5da75b8e5318e0" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "abc02df4842af900fbb5da75b8e5318e0" name = "abc02df4842af900fbb5da75b8e5318e0" ></ a >
int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getMinVisualCorrespondences</ b > () const</ td ></ tr >
< tr class = "memdesc:abc02df4842af900fbb5da75b8e5318e0" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Minimum visual inliers required (max of parent and child thresholds). < br /></ td ></ tr >
< tr class = "separator:abc02df4842af900fbb5da75b8e5318e0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac4baf87f079ce52df845805b84cad6c9" id = "r_ac4baf87f079ce52df845805b84cad6c9" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac4baf87f079ce52df845805b84cad6c9" name = "ac4baf87f079ce52df845805b84cad6c9" ></ a >
float  </ td >< td class = "memItemRight" valign = "bottom" >< b > getMinGeometryCorrespondencesRatio</ b > () const</ td ></ tr >
< tr class = "memdesc:ac4baf87f079ce52df845805b84cad6c9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Minimum geometry inlier ratio required (max of parent and child thresholds). < br /></ td ></ tr >
< tr class = "separator:ac4baf87f079ce52df845805b84cad6c9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7a9163259eaebff421953e194a623864" id = "r_a7a9163259eaebff421953e194a623864" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864" > repeatOnce</ a > () const</ td ></ tr >
< tr class = "separator:a7a9163259eaebff421953e194a623864" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abb255bdab60a262f9cfc5d868e50cc9c" id = "r_abb255bdab60a262f9cfc5d868e50cc9c" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#abb255bdab60a262f9cfc5d868e50cc9c" > force3DoF</ a > () const</ td ></ tr >
< tr class = "separator:abb255bdab60a262f9cfc5d868e50cc9c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac105402feeb2ec6551235296604145aa" id = "r_ac105402feeb2ec6551235296604145aa" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac105402feeb2ec6551235296604145aa" name = "ac105402feeb2ec6551235296604145aa" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > setChildRegistration</ b > (< a class = "el" href = "classrtabmap_1_1Registration.html" > Registration</ a > *child)</ td ></ tr >
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< tr class = "memdesc:ac105402feeb2ec6551235296604145aa" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Replaces the current child registration; takes ownership of < code > child</ code > . < br /></ td ></ tr >
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< tr class = "separator:ac105402feeb2ec6551235296604145aa" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa6b81a6f4137138a1b49510cc3f97679" id = "r_aa6b81a6f4137138a1b49510cc3f97679" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa6b81a6f4137138a1b49510cc3f97679" name = "aa6b81a6f4137138a1b49510cc3f97679" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > computeTransformation</ b > (const < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & from, const < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & to, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > guess=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), < a class = "el" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > *info=0) const</ td ></ tr >
< tr class = "memdesc:aa6b81a6f4137138a1b49510cc3f97679" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Registers < code > from</ code > to < code > to</ code > using immutable signatures (copied internally). < br /></ td ></ tr >
< tr class = "separator:aa6b81a6f4137138a1b49510cc3f97679" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a42d0c93204bc4da11eb89707ea2c03c6" id = "r_a42d0c93204bc4da11eb89707ea2c03c6" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a42d0c93204bc4da11eb89707ea2c03c6" name = "a42d0c93204bc4da11eb89707ea2c03c6" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > computeTransformation</ b > (const < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & from, const < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & to, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > guess=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), < a class = "el" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > *info=0) const</ td ></ tr >
< tr class = "memdesc:a42d0c93204bc4da11eb89707ea2c03c6" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Registers two < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > observations (wrapped as signatures). < br /></ td ></ tr >
< tr class = "separator:a42d0c93204bc4da11eb89707ea2c03c6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a44530cd77f6d0a9657251864fb136c0d" id = "r_a44530cd77f6d0a9657251864fb136c0d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a44530cd77f6d0a9657251864fb136c0d" name = "a44530cd77f6d0a9657251864fb136c0d" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > computeTransformationMod</ b > (< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & from, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & to, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > guess=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), < a class = "el" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > *info=0) const</ td ></ tr >
< tr class = "memdesc:a44530cd77f6d0a9657251864fb136c0d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Registers < code > from</ code > to < code > to</ code > ; signatures may be modified by the implementation. < br /></ td ></ tr >
< tr class = "separator:a44530cd77f6d0a9657251864fb136c0d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a516e8d64cdb3e7a743a3aa40ab026def" id = "r_a516e8d64cdb3e7a743a3aa40ab026def" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a516e8d64cdb3e7a743a3aa40ab026def" name = "a516e8d64cdb3e7a743a3aa40ab026def" ></ a >
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static < a class = "el" href = "classrtabmap_1_1Registration.html" > Registration</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< b > create</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
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< tr class = "memdesc:a516e8d64cdb3e7a743a3aa40ab026def" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Creates a registration from < b > Reg/Strategy</ b > in < code > parameters</ code > . Caller owns the pointer. < br /></ td ></ tr >
< tr class = "separator:a516e8d64cdb3e7a743a3aa40ab026def" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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static < a class = "el" href = "classrtabmap_1_1Registration.html" > Registration</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< b > create</ b > (< a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849" > Type</ a > & type, const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a1e3493a850551c98f9e814fed74400e6" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Creates a registration of < code > type</ code > (may be adjusted, e.g. to < a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724" > kTypeVis</ a > ). Caller owns the pointer. < br /></ td ></ tr >
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< tr class = "separator:a1e3493a850551c98f9e814fed74400e6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-attribs" name = "pub-static-attribs" ></ a >
Static Public Attributes</ h2 ></ td ></ tr >
< tr class = "memitem:a7c8c2d7a65357ef9f5d60ce3f763f4b3" id = "r_a7c8c2d7a65357ef9f5d60ce3f763f4b3" >< td class = "memItemLeft" align = "right" valign = "top" > static double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a7c8c2d7a65357ef9f5d60ce3f763f4b3" > COVARIANCE_LINEAR_EPSILON</ a ></ td ></ tr >
< tr class = "memdesc:a7c8c2d7a65357ef9f5d60ce3f763f4b3" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Minimum diagonal value for linear covariance (m²). < br /></ td ></ tr >
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< tr class = "memitem:ae40b7ab65642aac9f21f44887b23b97d" id = "r_ae40b7ab65642aac9f21f44887b23b97d" >< td class = "memItemLeft" align = "right" valign = "top" > static double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#ae40b7ab65642aac9f21f44887b23b97d" > COVARIANCE_ANGULAR_EPSILON</ a ></ td ></ tr >
< tr class = "memdesc:ae40b7ab65642aac9f21f44887b23b97d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Minimum diagonal value for angular covariance (rad²). < br /></ td ></ tr >
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</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a7d0ff4149da7f5839308ff543932b067" id = "r_a7d0ff4149da7f5839308ff543932b067" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a7d0ff4149da7f5839308ff543932b067" name = "a7d0ff4149da7f5839308ff543932b067" ></ a >
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  </ td >< td class = "memItemRight" valign = "bottom" >< b > Registration</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > (), < a class = "el" href = "classrtabmap_1_1Registration.html" > Registration</ a > *child=0)</ td ></ tr >
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< tr class = "memdesc:a7d0ff4149da7f5839308ff543932b067" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< code > child</ code > is owned and deleted in the destructor. < br /></ td ></ tr >
< tr class = "separator:a7d0ff4149da7f5839308ff543932b067" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a21635a391a85b64bc33787179a6cd71b" id = "r_a21635a391a85b64bc33787179a6cd71b" >< td class = "memItemLeft" align = "right" valign = "top" > virtual < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a21635a391a85b64bc33787179a6cd71b" > computeTransformationImpl</ a > (< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & from, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & to, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > guess, < a class = "el" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > & info) const =0</ td ></ tr >
< tr class = "memdesc:a21635a391a85b64bc33787179a6cd71b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Strategy-specific registration. < br /></ td ></ tr >
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< tr class = "memitem:a8b3d47766e19c82f87e538205853f434" id = "r_a8b3d47766e19c82f87e538205853f434" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a8b3d47766e19c82f87e538205853f434" > isImageRequiredImpl</ a > () const</ td ></ tr >
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< tr class = "memitem:a0a352c12a797bd500bf535a4e1495def" id = "r_a0a352c12a797bd500bf535a4e1495def" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a0a352c12a797bd500bf535a4e1495def" > isScanRequiredImpl</ a > () const</ td ></ tr >
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< tr class = "memitem:a11eb0c058646fcea6f053a50a0b9883c" id = "r_a11eb0c058646fcea6f053a50a0b9883c" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a11eb0c058646fcea6f053a50a0b9883c" > isUserDataRequiredImpl</ a > () const</ td ></ tr >
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< tr class = "memitem:a4e9d0a6de869e59f353ad63cc4f5504d" id = "r_a4e9d0a6de869e59f353ad63cc4f5504d" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a4e9d0a6de869e59f353ad63cc4f5504d" > canUseGuessImpl</ a > () const</ td ></ tr >
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< tr class = "memitem:a1cb7acf5c001dbaa7530cd77fc56a4a7" id = "r_a1cb7acf5c001dbaa7530cd77fc56a4a7" >< td class = "memItemLeft" align = "right" valign = "top" > virtual int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a1cb7acf5c001dbaa7530cd77fc56a4a7" > getMinVisualCorrespondencesImpl</ a > () const</ td ></ tr >
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< tr class = "memitem:a4b50ac5ddfbe06f2a8cc771f10598484" id = "r_a4b50ac5ddfbe06f2a8cc771f10598484" >< td class = "memItemLeft" align = "right" valign = "top" > virtual float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html#a4b50ac5ddfbe06f2a8cc771f10598484" > getMinGeometryCorrespondencesRatioImpl</ a > () const</ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Abstract base for registering two observations (visual, ICP, or both). </ p >
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< p > Factory < a class = "el" href = "classrtabmap_1_1Registration.html#a516e8d64cdb3e7a743a3aa40ab026def" > create()</ a > builds < a class = "el" href = "classrtabmap_1_1RegistrationVis.html" > RegistrationVis</ a > , < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html" > RegistrationIcp</ a > , or the two chained (< a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849ad03189dad590b6e2d81adbc7d20bf662" > kTypeVisIcp</ a > ) from < b > Reg/Strategy</ b > in a < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > .</ p >
< p >< a class = "el" href = "classrtabmap_1_1Registration.html#aa6b81a6f4137138a1b49510cc3f97679" > computeTransformation()</ a > wraps signatures and delegates to < a class = "el" href = "classrtabmap_1_1Registration.html#a44530cd77f6d0a9657251864fb136c0d" > computeTransformationMod()</ a > , which calls < a class = "el" href = "classrtabmap_1_1Registration.html#a21635a391a85b64bc33787179a6cd71b" > computeTransformationImpl()</ a > on the concrete strategy, optionally chains a child registration (e.g. ICP after visual), applies < b > Reg/Force3DoF</ b > , and may repeat once with the first result as guess when < b > Reg/RepeatOnce</ b > is enabled.</ p >
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< p > Requirement queries (< a class = "el" href = "classrtabmap_1_1Registration.html#ae10ae7b6dbf4d5396db66600ebe18228" > isImageRequired()</ a > , < a class = "el" href = "classrtabmap_1_1Registration.html#aa0748ad5a576d0919ef0d360137e5ea7" > isScanRequired()</ a > , etc.) OR-combine with the child when the parent returns false. Minimum correspondence thresholds take the maximum between parent and child.</ p >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html" title = "Visual registration between two signatures using features and geometry." > RegistrationVis</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html" > RegistrationIcp</ a > </ dd >
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< a class = "el" href = "classrtabmap_1_1RegistrationInfo.html" title = "Statistics and diagnostics returned by Registration." > RegistrationInfo</ a > </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00060" > 60</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Enumeration Documentation</ h2 >
< a id = "ae693713cd8b7ece4b147eae99880b849" name = "ae693713cd8b7ece4b147eae99880b849" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae693713cd8b7ece4b147eae99880b849" > ◆  </ a ></ span > Type</ h2 >
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< td class = "memname" > enum < a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849" > rtabmap::Registration::Type</ a ></ td >
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< p >< a class = "el" href = "classrtabmap_1_1Registration.html" title = "Abstract base for registering two observations (visual, ICP, or both)." > Registration</ a > strategy selected by < b > Reg/Strategy</ b > . </ p >
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< table class = "fieldtable" >
< tr >< th colspan = "2" > Enumerator</ th ></ tr >< tr >< td class = "fieldname" >< a id = "ae693713cd8b7ece4b147eae99880b849a1e25205ebb65fe2315a0b7050e613c6d" name = "ae693713cd8b7ece4b147eae99880b849a1e25205ebb65fe2315a0b7050e613c6d" ></ a > kTypeUndef  </ td >< td class = "fielddoc" >< p > Undefined / invalid strategy. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724" name = "ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724" ></ a > kTypeVis  </ td >< td class = "fielddoc" >< p > Visual registration only (< a class = "el" href = "classrtabmap_1_1RegistrationVis.html" > RegistrationVis</ a > ). </ p >
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< tr >< td class = "fieldname" >< a id = "ae693713cd8b7ece4b147eae99880b849a8638e369c895a337f587e727e1a712ab" name = "ae693713cd8b7ece4b147eae99880b849a8638e369c895a337f587e727e1a712ab" ></ a > kTypeIcp  </ td >< td class = "fielddoc" >< p > Geometric registration only (< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html" > RegistrationIcp</ a > ). </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "ae693713cd8b7ece4b147eae99880b849ad03189dad590b6e2d81adbc7d20bf662" name = "ae693713cd8b7ece4b147eae99880b849ad03189dad590b6e2d81adbc7d20bf662" ></ a > kTypeVisIcp  </ td >< td class = "fielddoc" >< p > Visual registration refined by ICP (< a class = "el" href = "classrtabmap_1_1RegistrationVis.html" > RegistrationVis</ a > chained with < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html" > RegistrationIcp</ a > ). </ p >
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< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00064" > 64</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a0f409a8f0973667ef1687fe102bbf930" name = "a0f409a8f0973667ef1687fe102bbf930" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0f409a8f0973667ef1687fe102bbf930" > ◆  </ a ></ span > parseParameters()</ h2 >
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< td class = "memname" > virtual void rtabmap::Registration::parseParameters </ td >
< td > (</ td >
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< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
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< td class = "paramname" >< em > parameters</ em ></ td >< td > )</ td >
< td ></ td >
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< p > Parses < b > Reg/RepeatOnce</ b > , < b > Reg/Force3DoF</ b > and forwards to the child registration if set. </ p >
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< p > Reimplemented in < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a" > rtabmap::RegistrationIcp</ a > , and < a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e" > rtabmap::RegistrationVis</ a > .</ p >
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< a id = "a7a9163259eaebff421953e194a623864" name = "a7a9163259eaebff421953e194a623864" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7a9163259eaebff421953e194a623864" > ◆  </ a ></ span > repeatOnce()</ h2 >
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< td class = "memname" > bool rtabmap::Registration::repeatOnce </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Value of < b > Reg/RepeatOnce</ b > . </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00102" > 102</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< a id = "abb255bdab60a262f9cfc5d868e50cc9c" name = "abb255bdab60a262f9cfc5d868e50cc9c" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abb255bdab60a262f9cfc5d868e50cc9c" > ◆  </ a ></ span > force3DoF()</ h2 >
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< td class = "memname" > bool rtabmap::Registration::force3DoF </ td >
< td > (</ td >
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< td > const</ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Value of < b > Reg/Force3DoF</ b > . </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00104" > 104</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< a id = "a21635a391a85b64bc33787179a6cd71b" name = "a21635a391a85b64bc33787179a6cd71b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a21635a391a85b64bc33787179a6cd71b" > ◆  </ a ></ span > computeTransformationImpl()</ h2 >
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< td class = "memname" > virtual < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::Registration::computeTransformationImpl </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > &  </ td >
< td class = "paramname" >< em > from</ em > , </ td >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > &  </ td >
< td class = "paramname" >< em > to</ em > , </ td >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >
< td class = "paramname" >< em > guess</ em > , </ td >
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< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > &  </ td >
< td class = "paramname" >< em > info</ em >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > Strategy-specific registration. </ p >
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< p > May modify < code > from</ code > and < code > to</ code > ; a child registration reuses those changes. </ p >
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< p > Implemented in < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5" > rtabmap::RegistrationIcp</ a > , and < a class = "el" href = "classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f" > rtabmap::RegistrationVis</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8b3d47766e19c82f87e538205853f434" > ◆  </ a ></ span > isImageRequiredImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::Registration::isImageRequiredImpl </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00144" > 144</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0a352c12a797bd500bf535a4e1495def" > ◆  </ a ></ span > isScanRequiredImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::Registration::isScanRequiredImpl </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00145" > 145</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a11eb0c058646fcea6f053a50a0b9883c" > ◆  </ a ></ span > isUserDataRequiredImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::Registration::isUserDataRequiredImpl </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00146" > 146</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a4e9d0a6de869e59f353ad63cc4f5504d" > ◆  </ a ></ span > canUseGuessImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::Registration::canUseGuessImpl </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00147" > 147</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1cb7acf5c001dbaa7530cd77fc56a4a7" > ◆  </ a ></ span > getMinVisualCorrespondencesImpl()</ h2 >
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< td class = "memname" > virtual int rtabmap::Registration::getMinVisualCorrespondencesImpl </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00148" > 148</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a4b50ac5ddfbe06f2a8cc771f10598484" > ◆  </ a ></ span > getMinGeometryCorrespondencesRatioImpl()</ h2 >
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< td class = "memname" > virtual float rtabmap::Registration::getMinGeometryCorrespondencesRatioImpl </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00149" > 149</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "groupheader" > Member Data Documentation</ h2 >
< a id = "a7c8c2d7a65357ef9f5d60ce3f763f4b3" name = "a7c8c2d7a65357ef9f5d60ce3f763f4b3" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7c8c2d7a65357ef9f5d60ce3f763f4b3" > ◆  </ a ></ span > COVARIANCE_LINEAR_EPSILON</ h2 >
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< td class = "memname" > double rtabmap::Registration::COVARIANCE_LINEAR_EPSILON</ td >
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< p > Minimum diagonal value for linear covariance (m²). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00071" > 71</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae40b7ab65642aac9f21f44887b23b97d" > ◆  </ a ></ span > COVARIANCE_ANGULAR_EPSILON</ h2 >
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< td class = "memname" > double rtabmap::Registration::COVARIANCE_ANGULAR_EPSILON</ td >
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< p > Minimum diagonal value for angular covariance (rad²). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Registration_8h_source.html#l00073" > 73</ a > of file < a class = "el" href = "Registration_8h_source.html" > Registration.h</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "Registration_8h_source.html" > Registration.h</ a ></ li >
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1Registration.html" > Registration</ a ></ li >
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