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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
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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 = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1RegistrationIcp-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::RegistrationIcp Class Reference</ div ></ div >
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Inheritance diagram for rtabmap::RegistrationIcp:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1RegistrationIcp__inherit__graph.png" border = "0" usemap = "#artabmap_1_1RegistrationIcp_inherit__map" alt = "Inheritance graph" /></ div >
< map name = "artabmap_1_1RegistrationIcp_inherit__map" id = "artabmap_1_1RegistrationIcp_inherit__map" >
< area shape = "rect" title = " " alt = "" coords = "5,79,188,104" />
< 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" />
< area shape = "poly" title = " " alt = "" coords = "99,44,99,79,94,79,94,44" />
</ map >
< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
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Collaboration diagram for rtabmap::RegistrationIcp:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1RegistrationIcp__coll__graph.png" border = "0" usemap = "#artabmap_1_1RegistrationIcp_coll__map" alt = "Collaboration graph" /></ div >
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< area shape = "rect" title = " " alt = "" coords = "5,79,188,104" />
< 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" />
< area shape = "poly" title = " " alt = "" coords = "99,44,99,79,94,79,94,44" />
</ map >
< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
< 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 >
< tr class = "memitem:a59f6aec4f68d2f7402253c942bfe3fab" id = "r_a59f6aec4f68d2f7402253c942bfe3fab" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab" > IcpStrategy</ a > { < br />
   < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabadebfaf4d0822a35b7b56f37f9c133327" > kIcpUndef</ a > = -1
, < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabafd4289953af3132d6d334fb438f22ace" > kIcpPCL</ a > = 0
, < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabac978d96078e7e0209d4a25894de3c805" > kIcpPointMatcher</ a > = 1
, < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3faba0f8b0cfe29412a3d66af5eb19dd7c0db" > kIcpCCCoreLib</ a > = 2
, < br />
   < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabaf6639ca6ae5f75d631dbbf7f61455881" > kIcpEnd</ a > = 3
< br />
}</ td ></ tr >
< tr class = "separator:a59f6aec4f68d2f7402253c942bfe3fab" >< td class = "memSeparator" colspan = "2" >   </ 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 >
< 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
}</ 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 >
</ 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 >
< tr class = "memitem:abbe0d1f4671eb3ea460fc3f9832b3d6f" id = "r_abbe0d1f4671eb3ea460fc3f9832b3d6f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "abbe0d1f4671eb3ea460fc3f9832b3d6f" name = "abbe0d1f4671eb3ea460fc3f9832b3d6f" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > RegistrationIcp</ 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 >
< tr class = "separator:abbe0d1f4671eb3ea460fc3f9832b3d6f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a648d10711ebfad7f93b049b020cf03b9" id = "r_a648d10711ebfad7f93b049b020cf03b9" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a648d10711ebfad7f93b049b020cf03b9" name = "a648d10711ebfad7f93b049b020cf03b9" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > RegistrationIcp</ b > (< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab" > IcpStrategy</ a > strategy, 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 >
< tr class = "separator:a648d10711ebfad7f93b049b020cf03b9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abd60fffd946201723c35beebc7bfea6a" id = "r_abd60fffd946201723c35beebc7bfea6a" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a" > parseParameters</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:abd60fffd946201723c35beebc7bfea6a" >< 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 >
< tr class = "separator:abd60fffd946201723c35beebc7bfea6a" >< 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 >
< 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 >
< 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 = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a892ab46eff4e5b0b16bee7d93fa3ba56" id = "r_a892ab46eff4e5b0b16bee7d93fa3ba56" >< td class = "memItemLeft" align = "right" valign = "top" > static bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a892ab46eff4e5b0b16bee7d93fa3ba56" > available</ a > (< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab" > IcpStrategy</ a > strategy)</ td ></ tr >
< tr class = "memdesc:a892ab46eff4e5b0b16bee7d93fa3ba56" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns true if < code > strategy</ code > is built into this rtabmap binary. < br /></ td ></ tr >
< tr class = "separator:a892ab46eff4e5b0b16bee7d93fa3ba56" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aef9238a37e0b70c9368b2e20cfe7df12" id = "r_aef9238a37e0b70c9368b2e20cfe7df12" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aef9238a37e0b70c9368b2e20cfe7df12" name = "aef9238a37e0b70c9368b2e20cfe7df12" ></ a >
static const char *  </ td >< td class = "memItemRight" valign = "bottom" >< b > strategyName</ b > (< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab" > IcpStrategy</ a > strategy)</ td ></ tr >
< tr class = "memdesc:aef9238a37e0b70c9368b2e20cfe7df12" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Human-readable name for < code > strategy</ code > ("PCL", "libpointmatcher", "CCCoreLib", or "Unknown"). < br /></ td ></ tr >
< tr class = "separator:aef9238a37e0b70c9368b2e20cfe7df12" >< 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" >
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 >
< 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" >
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 >
< tr class = "separator:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_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:a8a18107160cfc05cfb8a5109540d81b5" id = "r_a8a18107160cfc05cfb8a5109540d81b5" >< 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_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5" > 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:a8a18107160cfc05cfb8a5109540d81b5" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Strategy-specific registration. < br /></ td ></ tr >
< tr class = "separator:a8a18107160cfc05cfb8a5109540d81b5" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a27f89f95035392404d82e4a5b3135fa8" id = "r_a27f89f95035392404d82e4a5b3135fa8" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a27f89f95035392404d82e4a5b3135fa8" > isScanRequiredImpl</ a > () const</ td ></ tr >
< tr class = "separator:a27f89f95035392404d82e4a5b3135fa8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae891769a48cb66f8d71cc61f55523d34" id = "r_ae891769a48cb66f8d71cc61f55523d34" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#ae891769a48cb66f8d71cc61f55523d34" > canUseGuessImpl</ a > () const</ td ></ tr >
< tr class = "separator:ae891769a48cb66f8d71cc61f55523d34" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a81fd88443c52b0d0a8288cafd3fba93c" id = "r_a81fd88443c52b0d0a8288cafd3fba93c" >< td class = "memItemLeft" align = "right" valign = "top" > virtual float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a81fd88443c52b0d0a8288cafd3fba93c" > getMinGeometryCorrespondencesRatioImpl</ a > () const</ td ></ tr >
< tr class = "separator:a81fd88443c52b0d0a8288cafd3fba93c" >< 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" >
  </ 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 >
< 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:a8b3d47766e19c82f87e538205853f434 inherit pro_methods_classrtabmap_1_1Registration" 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 >
< tr class = "separator:a8b3d47766e19c82f87e538205853f434 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:a1cb7acf5c001dbaa7530cd77fc56a4a7 inherit pro_methods_classrtabmap_1_1Registration" 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 >
< tr class = "separator:a1cb7acf5c001dbaa7530cd77fc56a4a7 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_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 class = "definition" > Definition at line < a class = "el" href = "RegistrationIcp_8h_source.html#l00039" > 39</ a > of file < a class = "el" href = "RegistrationIcp_8h_source.html" > RegistrationIcp.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Enumeration Documentation</ h2 >
< a id = "a59f6aec4f68d2f7402253c942bfe3fab" name = "a59f6aec4f68d2f7402253c942bfe3fab" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a59f6aec4f68d2f7402253c942bfe3fab" > ◆  </ a ></ span > IcpStrategy</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > enum < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab" > rtabmap::RegistrationIcp::IcpStrategy</ a ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< table class = "fieldtable" >
< tr >< th colspan = "2" > Enumerator</ th ></ tr >< tr >< td class = "fieldname" >< a id = "a59f6aec4f68d2f7402253c942bfe3fabadebfaf4d0822a35b7b56f37f9c133327" name = "a59f6aec4f68d2f7402253c942bfe3fabadebfaf4d0822a35b7b56f37f9c133327" ></ a > kIcpUndef  </ td >< td class = "fielddoc" >< p > Undefined / invalid type. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a59f6aec4f68d2f7402253c942bfe3fabafd4289953af3132d6d334fb438f22ace" name = "a59f6aec4f68d2f7402253c942bfe3fabafd4289953af3132d6d334fb438f22ace" ></ a > kIcpPCL  </ td >< td class = "fielddoc" >< p > Point Cloud Library. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a59f6aec4f68d2f7402253c942bfe3fabac978d96078e7e0209d4a25894de3c805" name = "a59f6aec4f68d2f7402253c942bfe3fabac978d96078e7e0209d4a25894de3c805" ></ a > kIcpPointMatcher  </ td >< td class = "fielddoc" >< p > libpointmatcher. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a59f6aec4f68d2f7402253c942bfe3faba0f8b0cfe29412a3d66af5eb19dd7c0db" name = "a59f6aec4f68d2f7402253c942bfe3faba0f8b0cfe29412a3d66af5eb19dd7c0db" ></ a > kIcpCCCoreLib  </ td >< td class = "fielddoc" >< p > CCCoreLib (Cloud Compare). </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a59f6aec4f68d2f7402253c942bfe3fabaf6639ca6ae5f75d631dbbf7f61455881" name = "a59f6aec4f68d2f7402253c942bfe3fabaf6639ca6ae5f75d631dbbf7f61455881" ></ a > kIcpEnd  </ td >< td class = "fielddoc" >< p > Sentinel: always keep last. Used to iterate through strategies. </ p >
</ td ></ tr >
</ table >
< p class = "definition" > Definition at line < a class = "el" href = "RegistrationIcp_8h_source.html#l00042" > 42</ a > of file < a class = "el" href = "RegistrationIcp_8h_source.html" > RegistrationIcp.h</ a > .</ p >
</ div >
</ div >
< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a892ab46eff4e5b0b16bee7d93fa3ba56" name = "a892ab46eff4e5b0b16bee7d93fa3ba56" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a892ab46eff4e5b0b16bee7d93fa3ba56" > ◆  </ a ></ span > available()</ h2 >
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< td class = "memname" > static bool rtabmap::RegistrationIcp::available </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab" > IcpStrategy</ a >   </ td >
< td class = "paramname" >< em > strategy</ em ></ td >< td > )</ td >
< td ></ td >
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< p > Returns true if < code > strategy</ code > is built into this rtabmap binary. </ p >
< p >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabafd4289953af3132d6d334fb438f22ace" > kIcpPCL</ a > is always available; < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabac978d96078e7e0209d4a25894de3c805" > kIcpPointMatcher</ a > requires the RTABMAP_POINTMATCHER build flag; < a class = "el" href = "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3faba0f8b0cfe29412a3d66af5eb19dd7c0db" > kIcpCCCoreLib</ a > requires RTABMAP_CCCORELIB. </ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abd60fffd946201723c35beebc7bfea6a" > ◆  </ a ></ span > parseParameters()</ h2 >
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< td class = "memname" > virtual void rtabmap::RegistrationIcp::parseParameters </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< td class = "paramname" >< em > parameters</ em ></ 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 >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Registration.html#a0f409a8f0973667ef1687fe102bbf930" > rtabmap::Registration</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8a18107160cfc05cfb8a5109540d81b5" > ◆  </ a ></ span > computeTransformationImpl()</ h2 >
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< td class = "memname" > virtual < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::RegistrationIcp::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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< 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 >
< p > May modify < code > from</ code > and < code > to</ code > ; a child registration reuses those changes. </ p >
< p > Implements < a class = "el" href = "classrtabmap_1_1Registration.html#a21635a391a85b64bc33787179a6cd71b" > rtabmap::Registration</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a27f89f95035392404d82e4a5b3135fa8" > ◆  </ a ></ span > isScanRequiredImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::RegistrationIcp::isScanRequiredImpl </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ 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 = "RegistrationIcp_8h_source.html#l00079" > 79</ a > of file < a class = "el" href = "RegistrationIcp_8h_source.html" > RegistrationIcp.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae891769a48cb66f8d71cc61f55523d34" > ◆  </ a ></ span > canUseGuessImpl()</ h2 >
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< td class = "memname" > virtual bool rtabmap::RegistrationIcp::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 = "RegistrationIcp_8h_source.html#l00080" > 80</ a > of file < a class = "el" href = "RegistrationIcp_8h_source.html" > RegistrationIcp.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a81fd88443c52b0d0a8288cafd3fba93c" > ◆  </ a ></ span > getMinGeometryCorrespondencesRatioImpl()</ h2 >
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< td class = "memname" > virtual float rtabmap::RegistrationIcp::getMinGeometryCorrespondencesRatioImpl </ 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 = "RegistrationIcp_8h_source.html#l00081" > 81</ a > of file < a class = "el" href = "RegistrationIcp_8h_source.html" > RegistrationIcp.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 = "RegistrationIcp_8h_source.html" > RegistrationIcp.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_1RegistrationIcp.html" > RegistrationIcp</ 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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