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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-types">Public Types</a> |
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<a href="#pub-methods">Public Member Functions</a> |
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<a href="#pub-static-methods">Static Public Member Functions</a> |
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<a href="#pro-methods">Protected Member Functions</a> |
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<a href="classrtabmap_1_1RegistrationIcp-members.html">List of all members</a> </div>
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<div class="headertitle"><div class="title">rtabmap::RegistrationIcp Class Reference</div></div>
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<div class="contents">
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<div class="dynheader">
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Inheritance diagram for rtabmap::RegistrationIcp:</div>
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<div class="dyncontent">
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<div class="center"><img src="classrtabmap_1_1RegistrationIcp__inherit__graph.png" border="0" usemap="#artabmap_1_1RegistrationIcp_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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<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>
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<div class="dyncontent">
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<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" 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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<area shape="poly" title=" " alt="" coords="99,44,99,79,94,79,94,44"/>
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</map>
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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">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
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Public Types</h2></td></tr>
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<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 />
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  <a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabadebfaf4d0822a35b7b56f37f9c133327">kIcpUndef</a> = -1
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, <a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabafd4289953af3132d6d334fb438f22ace">kIcpPCL</a> = 0
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, <a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabac978d96078e7e0209d4a25894de3c805">kIcpPointMatcher</a> = 1
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, <a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3faba0f8b0cfe29412a3d66af5eb19dd7c0db">kIcpCCCoreLib</a> = 2
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, <br />
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  <a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabaf6639ca6ae5f75d631dbbf7f61455881">kIcpEnd</a> = 3
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<br />
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}</td></tr>
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<tr class="separator:a59f6aec4f68d2f7402253c942bfe3fab"><td class="memSeparator" colspan="2"> </td></tr>
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<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
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||||
, <a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724">kTypeVis</a> = 0
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, <a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8638e369c895a337f587e727e1a712ab">kTypeIcp</a> = 1
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, <a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849ad03189dad590b6e2d81adbc7d20bf662">kTypeVisIcp</a> = 2
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}</td></tr>
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<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>
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<tr class="separator:ae693713cd8b7ece4b147eae99880b849 inherit pub_types_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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||||
<tr class="memitem:abbe0d1f4671eb3ea460fc3f9832b3d6f" id="r_abbe0d1f4671eb3ea460fc3f9832b3d6f"><td class="memItemLeft" align="right" valign="top"><a id="abbe0d1f4671eb3ea460fc3f9832b3d6f" name="abbe0d1f4671eb3ea460fc3f9832b3d6f"></a>
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 </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>
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<tr class="separator:abbe0d1f4671eb3ea460fc3f9832b3d6f"><td class="memSeparator" colspan="2"> </td></tr>
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||||
<tr class="memitem:a648d10711ebfad7f93b049b020cf03b9" id="r_a648d10711ebfad7f93b049b020cf03b9"><td class="memItemLeft" align="right" valign="top"><a id="a648d10711ebfad7f93b049b020cf03b9" name="a648d10711ebfad7f93b049b020cf03b9"></a>
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 </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>
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<tr class="separator:a648d10711ebfad7f93b049b020cf03b9"><td class="memSeparator" colspan="2"> </td></tr>
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||||
<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>
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<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>
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<tr class="separator:abd60fffd946201723c35beebc7bfea6a"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memitem:ae10ae7b6dbf4d5396db66600ebe18228 inherit pub_methods_classrtabmap_1_1Registration" id="r_ae10ae7b6dbf4d5396db66600ebe18228"><td class="memItemLeft" align="right" valign="top">
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bool </td><td class="memItemRight" valign="bottom"><b>isImageRequired</b> () const</td></tr>
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<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>
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<tr class="separator:ae10ae7b6dbf4d5396db66600ebe18228 inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa0748ad5a576d0919ef0d360137e5ea7 inherit pub_methods_classrtabmap_1_1Registration" id="r_aa0748ad5a576d0919ef0d360137e5ea7"><td class="memItemLeft" align="right" valign="top">
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bool </td><td class="memItemRight" valign="bottom"><b>isScanRequired</b> () const</td></tr>
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<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>
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<tr class="separator:aa0748ad5a576d0919ef0d360137e5ea7 inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3cd064c74588fd13cce178596e188b5d inherit pub_methods_classrtabmap_1_1Registration" id="r_a3cd064c74588fd13cce178596e188b5d"><td class="memItemLeft" align="right" valign="top">
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bool </td><td class="memItemRight" valign="bottom"><b>isUserDataRequired</b> () const</td></tr>
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<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>
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||||
<tr class="separator:a3cd064c74588fd13cce178596e188b5d inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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||||
<tr class="memitem:ab000f795ec498882585a634c2dafec05 inherit pub_methods_classrtabmap_1_1Registration" id="r_ab000f795ec498882585a634c2dafec05"><td class="memItemLeft" align="right" valign="top">
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bool </td><td class="memItemRight" valign="bottom"><b>canUseGuess</b> () const</td></tr>
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||||
<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>
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||||
<tr class="separator:ab000f795ec498882585a634c2dafec05 inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abc02df4842af900fbb5da75b8e5318e0 inherit pub_methods_classrtabmap_1_1Registration" id="r_abc02df4842af900fbb5da75b8e5318e0"><td class="memItemLeft" align="right" valign="top">
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int </td><td class="memItemRight" valign="bottom"><b>getMinVisualCorrespondences</b> () const</td></tr>
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<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>
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<tr class="separator:abc02df4842af900fbb5da75b8e5318e0 inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac4baf87f079ce52df845805b84cad6c9 inherit pub_methods_classrtabmap_1_1Registration" id="r_ac4baf87f079ce52df845805b84cad6c9"><td class="memItemLeft" align="right" valign="top">
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float </td><td class="memItemRight" valign="bottom"><b>getMinGeometryCorrespondencesRatio</b> () const</td></tr>
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<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>
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<tr class="separator:ac4baf87f079ce52df845805b84cad6c9 inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a7a9163259eaebff421953e194a623864 inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a892ab46eff4e5b0b16bee7d93fa3ba56" name="a892ab46eff4e5b0b16bee7d93fa3ba56"></a>
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<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>
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<td>(</td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> </td>
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<td class="paramname"><em>strategy</em></td><td>)</td>
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<span class="mlabels"><span class="mlabel">static</span></span> </td>
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<p>Returns true if <code>strategy</code> is built into this rtabmap binary. </p>
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<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>
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<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>
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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 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>
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<td>(</td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1Signature.html">Signature</a> & </td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> & </td>
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<td class="paramname"><em>info</em> </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>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>
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<p>Reimplemented from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a>.</p>
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<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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<p>Reimplemented from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a>.</p>
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<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>
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<p>Reimplemented from <a class="el" href="classrtabmap_1_1Registration.html">rtabmap::Registration</a>.</p>
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<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>
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