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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1RegistrationVis-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::RegistrationVis Class Reference</ div ></ div >
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< p > Visual registration between two signatures using features and geometry.
< a href = "classrtabmap_1_1RegistrationVis.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > > </ code ></ p >
< div class = "dynheader" >
Inheritance diagram for rtabmap::RegistrationVis:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1RegistrationVis__inherit__graph.png" border = "0" usemap = "#artabmap_1_1RegistrationVis_inherit__map" alt = "Inheritance graph" /></ div >
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< area shape = "rect" href = "classrtabmap_1_1Registration.html" title = "Abstract base for registering two observations (visual, ICP, or both)." alt = "" coords = "15,5,179,31" />
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< div class = "dynheader" >
Collaboration diagram for rtabmap::RegistrationVis:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1RegistrationVis__coll__graph.png" border = "0" usemap = "#artabmap_1_1RegistrationVis_coll__map" alt = "Collaboration graph" /></ div >
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< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
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< 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 >
< tr class = "memitem:aa845f7fbbfc8fc340dba96a2a6550d03" id = "r_aa845f7fbbfc8fc340dba96a2a6550d03" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa845f7fbbfc8fc340dba96a2a6550d03" name = "aa845f7fbbfc8fc340dba96a2a6550d03" ></ a >
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  </ td >< td class = "memItemRight" valign = "bottom" >< b > RegistrationVis</ 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:aa845f7fbbfc8fc340dba96a2a6550d03" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< code > child</ code > is owned and deleted in the destructor. < br /></ td ></ tr >
< tr class = "separator:aa845f7fbbfc8fc340dba96a2a6550d03" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "memitem:a6560046940995044d7a51cb0066d420e" id = "r_a6560046940995044d7a51cb0066d420e" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e" > parseParameters</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
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< tr class = "memdesc:a6560046940995044d7a51cb0066d420e" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Parses Vis/ and feature parameters; recreates feature detectors. < br /></ td ></ tr >
< tr class = "separator:a6560046940995044d7a51cb0066d420e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a488ecb8a7423996abdad98b0044cd7f2" id = "r_a488ecb8a7423996abdad98b0044cd7f2" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2" > getInlierDistance</ a > () const</ td ></ tr >
< tr class = "separator:a488ecb8a7423996abdad98b0044cd7f2" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a93331add1822dd6f02bc74efec6d6834" id = "r_a93331add1822dd6f02bc74efec6d6834" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834" > getIterations</ a > () const</ td ></ tr >
< tr class = "separator:a93331add1822dd6f02bc74efec6d6834" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae951e95c4ae2ea1ab5c4d849823d66c4" id = "r_ae951e95c4ae2ea1ab5c4d849823d66c4" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4" > getMinInliers</ a > () const</ td ></ tr >
< tr class = "separator:ae951e95c4ae2ea1ab5c4d849823d66c4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a697d562bebe30b73a1ecd34dabee4347" id = "r_a697d562bebe30b73a1ecd34dabee4347" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347" > getNNType</ a > () const</ td ></ tr >
< tr class = "separator:a697d562bebe30b73a1ecd34dabee4347" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aed9e9e593b290a4be1aeda05967a631a" id = "r_aed9e9e593b290a4be1aeda05967a631a" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a" > getNNDR</ a > () const</ td ></ tr >
< tr class = "separator:aed9e9e593b290a4be1aeda05967a631a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a951c79dd9be75b896c551e5213c0ee31" id = "r_a951c79dd9be75b896c551e5213c0ee31" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31" > getEstimationType</ a > () const</ td ></ tr >
< tr class = "separator:a951c79dd9be75b896c551e5213c0ee31" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0a860fb3509b4c5b135b66ebd5cd6e55" id = "r_a0a860fb3509b4c5b135b66ebd5cd6e55" >< td class = "memItemLeft" align = "right" valign = "top" > const < a class = "el" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55" > getDetector</ a > () const</ td ></ tr >
< tr class = "separator:a0a860fb3509b4c5b135b66ebd5cd6e55" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classrtabmap_1_1Registration" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classrtabmap_1_1Registration')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a ></ td ></ tr >
< tr class = "memitem:ae10ae7b6dbf4d5396db66600ebe18228 inherit pub_methods_classrtabmap_1_1Registration" id = "r_ae10ae7b6dbf4d5396db66600ebe18228" >< td class = "memItemLeft" align = "right" valign = "top" >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isImageRequired</ b > () const</ td ></ tr >
< tr class = "memdesc:ae10ae7b6dbf4d5396db66600ebe18228 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if images are needed (parent or child). < br /></ td ></ tr >
< tr class = "separator:ae10ae7b6dbf4d5396db66600ebe18228 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa0748ad5a576d0919ef0d360137e5ea7 inherit pub_methods_classrtabmap_1_1Registration" id = "r_aa0748ad5a576d0919ef0d360137e5ea7" >< td class = "memItemLeft" align = "right" valign = "top" >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScanRequired</ b > () const</ td ></ tr >
< tr class = "memdesc:aa0748ad5a576d0919ef0d360137e5ea7 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if laser scans are needed (parent or child). < br /></ td ></ tr >
< tr class = "separator:aa0748ad5a576d0919ef0d360137e5ea7 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3cd064c74588fd13cce178596e188b5d inherit pub_methods_classrtabmap_1_1Registration" id = "r_a3cd064c74588fd13cce178596e188b5d" >< td class = "memItemLeft" align = "right" valign = "top" >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isUserDataRequired</ b > () const</ td ></ tr >
< tr class = "memdesc:a3cd064c74588fd13cce178596e188b5d inherit pub_methods_classrtabmap_1_1Registration" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if user data is needed (parent or child). < br /></ td ></ tr >
< tr class = "separator:a3cd064c74588fd13cce178596e188b5d inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab000f795ec498882585a634c2dafec05 inherit pub_methods_classrtabmap_1_1Registration" id = "r_ab000f795ec498882585a634c2dafec05" >< td class = "memItemLeft" align = "right" valign = "top" >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > canUseGuess</ b > () const</ td ></ tr >
< tr class = "memdesc:ab000f795ec498882585a634c2dafec05 inherit pub_methods_classrtabmap_1_1Registration" >< 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abc02df4842af900fbb5da75b8e5318e0 inherit pub_methods_classrtabmap_1_1Registration" id = "r_abc02df4842af900fbb5da75b8e5318e0" >< td class = "memItemLeft" align = "right" valign = "top" >
int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getMinVisualCorrespondences</ b > () const</ td ></ tr >
< tr class = "memdesc:abc02df4842af900fbb5da75b8e5318e0 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Minimum visual inliers required (max of parent and child thresholds). < br /></ td ></ tr >
< tr class = "separator:abc02df4842af900fbb5da75b8e5318e0 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac4baf87f079ce52df845805b84cad6c9 inherit pub_methods_classrtabmap_1_1Registration" id = "r_ac4baf87f079ce52df845805b84cad6c9" >< td class = "memItemLeft" align = "right" valign = "top" >
float  </ td >< td class = "memItemRight" valign = "bottom" >< b > getMinGeometryCorrespondencesRatio</ b > () const</ td ></ tr >
< tr class = "memdesc:ac4baf87f079ce52df845805b84cad6c9 inherit pub_methods_classrtabmap_1_1Registration" >< 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7a9163259eaebff421953e194a623864 inherit pub_methods_classrtabmap_1_1Registration" 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abb255bdab60a262f9cfc5d868e50cc9c inherit pub_methods_classrtabmap_1_1Registration" 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac105402feeb2ec6551235296604145aa inherit pub_methods_classrtabmap_1_1Registration" id = "r_ac105402feeb2ec6551235296604145aa" >< td class = "memItemLeft" align = "right" valign = "top" >
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 inherit pub_methods_classrtabmap_1_1Registration" >< 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa6b81a6f4137138a1b49510cc3f97679 inherit pub_methods_classrtabmap_1_1Registration" id = "r_aa6b81a6f4137138a1b49510cc3f97679" >< td class = "memItemLeft" align = "right" valign = "top" >
< 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 inherit pub_methods_classrtabmap_1_1Registration" >< 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a42d0c93204bc4da11eb89707ea2c03c6 inherit pub_methods_classrtabmap_1_1Registration" id = "r_a42d0c93204bc4da11eb89707ea2c03c6" >< td class = "memItemLeft" align = "right" valign = "top" >
< 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 inherit pub_methods_classrtabmap_1_1Registration" >< 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a44530cd77f6d0a9657251864fb136c0d inherit pub_methods_classrtabmap_1_1Registration" id = "r_a44530cd77f6d0a9657251864fb136c0d" >< td class = "memItemLeft" align = "right" valign = "top" >
< 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 inherit pub_methods_classrtabmap_1_1Registration" >< 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 inherit pub_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ 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:aa47fd3a0599ee918e024161db330a92f" id = "r_aa47fd3a0599ee918e024161db330a92f" >< 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_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f" > 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</ td ></ tr >
< tr class = "memdesc:aa47fd3a0599ee918e024161db330a92f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Strategy-specific registration. < br /></ td ></ tr >
< tr class = "separator:aa47fd3a0599ee918e024161db330a92f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a49868474902f7b1c5a8b48c5fc09e9bc" id = "r_a49868474902f7b1c5a8b48c5fc09e9bc" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a49868474902f7b1c5a8b48c5fc09e9bc" > isImageRequiredImpl</ a > () const</ td ></ tr >
< tr class = "separator:a49868474902f7b1c5a8b48c5fc09e9bc" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1961cedbe7e61a65bb42d2a7f5604309" id = "r_a1961cedbe7e61a65bb42d2a7f5604309" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a1961cedbe7e61a65bb42d2a7f5604309" > canUseGuessImpl</ a > () const</ td ></ tr >
< tr class = "separator:a1961cedbe7e61a65bb42d2a7f5604309" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a57cd358ce95d2ac839bab72c4fc37a06" id = "r_a57cd358ce95d2ac839bab72c4fc37a06" >< td class = "memItemLeft" align = "right" valign = "top" > virtual int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html#a57cd358ce95d2ac839bab72c4fc37a06" > getMinVisualCorrespondencesImpl</ a > () const</ td ></ tr >
< tr class = "separator:a57cd358ce95d2ac839bab72c4fc37a06" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1Registration" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1Registration')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a ></ td ></ tr >
< tr class = "memitem:a7d0ff4149da7f5839308ff543932b067 inherit pro_methods_classrtabmap_1_1Registration" id = "r_a7d0ff4149da7f5839308ff543932b067" >< td class = "memItemLeft" align = "right" valign = "top" >
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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 inherit pro_methods_classrtabmap_1_1Registration" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< code > child</ code > is owned and deleted in the destructor. < br /></ td ></ tr >
< tr class = "separator:a7d0ff4149da7f5839308ff543932b067 inherit pro_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0a352c12a797bd500bf535a4e1495def inherit pro_methods_classrtabmap_1_1Registration" 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 >
< tr class = "separator:a0a352c12a797bd500bf535a4e1495def inherit pro_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a11eb0c058646fcea6f053a50a0b9883c inherit pro_methods_classrtabmap_1_1Registration" 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 >
< tr class = "separator:a11eb0c058646fcea6f053a50a0b9883c inherit pro_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4b50ac5ddfbe06f2a8cc771f10598484 inherit pro_methods_classrtabmap_1_1Registration" 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 >
< tr class = "separator:a4b50ac5ddfbe06f2a8cc771f10598484 inherit pro_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pub_types_classrtabmap_1_1Registration" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classrtabmap_1_1Registration')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a ></ td ></ tr >
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< tr class = "memitem:ae693713cd8b7ece4b147eae99880b849 inherit pub_types_classrtabmap_1_1Registration" 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 inherit pub_types_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classrtabmap_1_1Registration" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Registration')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a ></ td ></ tr >
< tr class = "memitem:a516e8d64cdb3e7a743a3aa40ab026def inherit pub_static_methods_classrtabmap_1_1Registration" id = "r_a516e8d64cdb3e7a743a3aa40ab026def" >< td class = "memItemLeft" align = "right" valign = "top" >
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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 inherit pub_static_methods_classrtabmap_1_1Registration" >< 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 inherit pub_static_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration" id = "r_a1e3493a850551c98f9e814fed74400e6" >< td class = "memItemLeft" align = "right" valign = "top" >
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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 inherit pub_static_methods_classrtabmap_1_1Registration" >< 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 inherit pub_static_methods_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_attribs_classrtabmap_1_1Registration" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_attribs_classrtabmap_1_1Registration')" >< img src = "closed.png" alt = "-" />   Static Public Attributes inherited from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a ></ td ></ tr >
< tr class = "memitem:a7c8c2d7a65357ef9f5d60ce3f763f4b3 inherit pub_static_attribs_classrtabmap_1_1Registration" 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 inherit pub_static_attribs_classrtabmap_1_1Registration" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Minimum diagonal value for linear covariance (m²). < br /></ td ></ tr >
< tr class = "separator:a7c8c2d7a65357ef9f5d60ce3f763f4b3 inherit pub_static_attribs_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae40b7ab65642aac9f21f44887b23b97d inherit pub_static_attribs_classrtabmap_1_1Registration" 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 inherit pub_static_attribs_classrtabmap_1_1Registration" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Minimum diagonal value for angular covariance (rad²). < br /></ td ></ tr >
< tr class = "separator:ae40b7ab65642aac9f21f44887b23b97d inherit pub_static_attribs_classrtabmap_1_1Registration" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Visual registration between two signatures using features and geometry. </ p >
< p > Extracts and matches features (< a class = "el" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > ), then estimates motion with < b > Vis/EstimationType</ b > (3D→3D, 3D→2D PnP, or 2D→2D epipolar). Supports RGB-D (< a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > + depth), stereo (< a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > ), optical flow, GMS, and optional Python matchers when built with Python support.</ p >
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< p > Can chain a child registration (e.g. < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html" > RegistrationIcp</ a > in < a class = "el" href = "classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849ad03189dad590b6e2d81adbc7d20bf662" > Registration::kTypeVisIcp</ a > ). Feature-related Vis/ parameters are mapped to Kp/ for < a class = "el" href = "classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d" > Feature2D::create()</ a > .</ p >
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< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1Registration.html" title = "Abstract base for registering two observations (visual, ICP, or both)." > Registration</ a > </ dd >
< dd >
< 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 = "RegistrationVis_8h_source.html#l00060" > 60</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a6560046940995044d7a51cb0066d420e" name = "a6560046940995044d7a51cb0066d420e" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6560046940995044d7a51cb0066d420e" > ◆  </ a ></ span > parseParameters()</ h2 >
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< td class = "memname" > virtual void rtabmap::RegistrationVis::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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< span class = "mlabels" >< span class = "mlabel" > virtual</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
< p > Parses Vis/ and feature parameters; recreates feature detectors. </ p >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Registration.html#a0f409a8f0973667ef1687fe102bbf930" > rtabmap::Registration</ a > .</ p >
</ div >
</ div >
< a id = "a488ecb8a7423996abdad98b0044cd7f2" name = "a488ecb8a7423996abdad98b0044cd7f2" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a488ecb8a7423996abdad98b0044cd7f2" > ◆  </ a ></ span > getInlierDistance()</ h2 >
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< td class = "memname" > float rtabmap::RegistrationVis::getInlierDistance </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd >< b > Vis/InlierDistance</ b > (m). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00071" > 71</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a93331add1822dd6f02bc74efec6d6834" > ◆  </ a ></ span > getIterations()</ h2 >
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< td class = "memname" > int rtabmap::RegistrationVis::getIterations </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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</ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd >< b > Vis/Iterations</ b > (RANSAC iterations). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00073" > 73</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae951e95c4ae2ea1ab5c4d849823d66c4" > ◆  </ a ></ span > getMinInliers()</ h2 >
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< td class = "memname" > int rtabmap::RegistrationVis::getMinInliers </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd >< b > Vis/MinInliers</ b > . </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00075" > 75</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< a id = "a697d562bebe30b73a1ecd34dabee4347" name = "a697d562bebe30b73a1ecd34dabee4347" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a697d562bebe30b73a1ecd34dabee4347" > ◆  </ a ></ span > getNNType()</ h2 >
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< td class = "memname" > int rtabmap::RegistrationVis::getNNType </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd >< b > Vis/CorNNType</ b > nearest-neighbor strategy. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00077" > 77</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< a id = "aed9e9e593b290a4be1aeda05967a631a" name = "aed9e9e593b290a4be1aeda05967a631a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aed9e9e593b290a4be1aeda05967a631a" > ◆  </ a ></ span > getNNDR()</ h2 >
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< td class = "memname" > float rtabmap::RegistrationVis::getNNDR </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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</ 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 >< b > Vis/CorNNDR</ b > ratio test threshold. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00079" > 79</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a951c79dd9be75b896c551e5213c0ee31" > ◆  </ a ></ span > getEstimationType()</ h2 >
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< td class = "memname" > int rtabmap::RegistrationVis::getEstimationType </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd >< b > Vis/EstimationType</ b > (0: 3D→3D, 1: PnP, 2: epipolar). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00081" > 81</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0a860fb3509b4c5b135b66ebd5cd6e55" > ◆  </ a ></ span > getDetector()</ h2 >
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< td class = "memname" > const < a class = "el" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > * rtabmap::RegistrationVis::getDetector </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Feature detector used for the “from” signature. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00084" > 84</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< a id = "aa47fd3a0599ee918e024161db330a92f" name = "aa47fd3a0599ee918e024161db330a92f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa47fd3a0599ee918e024161db330a92f" > ◆  </ a ></ span > computeTransformationImpl()</ h2 >
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< td class = "memname" > virtual < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::RegistrationVis::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 >
</ tr >
< tr >
< 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 >
</ tr >
< 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 >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
</ tr >
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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 > Implements < a class = "el" href = "classrtabmap_1_1Registration.html#a21635a391a85b64bc33787179a6cd71b" > rtabmap::Registration</ a > .</ p >
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< a id = "a49868474902f7b1c5a8b48c5fc09e9bc" name = "a49868474902f7b1c5a8b48c5fc09e9bc" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a49868474902f7b1c5a8b48c5fc09e9bc" > ◆  </ a ></ span > isImageRequiredImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::RegistrationVis::isImageRequiredImpl </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a > .</ p >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00093" > 93</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1961cedbe7e61a65bb42d2a7f5604309" > ◆  </ a ></ span > canUseGuessImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::RegistrationVis::canUseGuessImpl </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a > .</ p >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00094" > 94</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a57cd358ce95d2ac839bab72c4fc37a06" > ◆  </ a ></ span > getMinVisualCorrespondencesImpl()</ h2 >
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< td class = "memname" > virtual int rtabmap::RegistrationVis::getMinVisualCorrespondencesImpl </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Registration.html" > rtabmap::Registration</ a > .</ p >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationVis_8h_source.html#l00095" > 95</ a > of file < a class = "el" href = "RegistrationVis_8h_source.html" > RegistrationVis.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 = "RegistrationVis_8h_source.html" > RegistrationVis.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
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< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
< ul >
< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1RegistrationVis.html" > RegistrationVis</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
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