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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

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2026-08-02 07:56:38 +00:00
parent 6259cf4409
commit 9043c4a9aa
1083 changed files with 121946 additions and 11202 deletions
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preview/pr-1492/api/latest/RegistrationIcp_8h_source.html
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
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<div id="side-nav" class="ui-resizable side-nav-resizable">
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class="ui-resizable-handle">
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<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('RegistrationIcp_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">RegistrationIcp.h</div></div>
</div><!--header-->
@@ -143,11 +160,11 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#aef9238a37e0b70c9368b2e20cfe7df12"> 64</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code hl_function" href="classrtabmap_1_1RegistrationIcp.html#aef9238a37e0b70c9368b2e20cfe7df12">strategyName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> strategy);</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="comment">// take ownership of child</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap(), <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * child = 0);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>(<a class="code hl_enumeration" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> strategy, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap(), <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * child = 0);</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * child = 0);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>(<a class="code hl_enumeration" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> strategy, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * child = 0);</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">~RegistrationIcp</a>();</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a"> 71</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a"> 71</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5"> 74</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5">computeTransformationImpl</a>(</div>
@@ -204,17 +221,22 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_a59f6aec4f68d2f7402253c942bfe3fab"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">rtabmap::RegistrationIcp::IcpStrategy</a></div><div class="ttdeci">IcpStrategy</div><div class="ttdef"><b>Definition</b> <a href="RegistrationIcp_8h_source.html#l00042">RegistrationIcp.h:42</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_a892ab46eff4e5b0b16bee7d93fa3ba56"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#a892ab46eff4e5b0b16bee7d93fa3ba56">rtabmap::RegistrationIcp::available</a></div><div class="ttdeci">static bool available(IcpStrategy strategy)</div><div class="ttdoc">Returns true if strategy is built into this rtabmap binary.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_a8a18107160cfc05cfb8a5109540d81b5"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5">rtabmap::RegistrationIcp::computeTransformationImpl</a></div><div class="ttdeci">virtual Transform computeTransformationImpl(Signature &amp;from, Signature &amp;to, Transform guess, RegistrationInfo &amp;info) const</div><div class="ttdoc">Strategy-specific registration.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_abd60fffd946201723c35beebc7bfea6a"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a">rtabmap::RegistrationIcp::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_abd60fffd946201723c35beebc7bfea6a"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a">rtabmap::RegistrationIcp::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_aef9238a37e0b70c9368b2e20cfe7df12"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#aef9238a37e0b70c9368b2e20cfe7df12">rtabmap::RegistrationIcp::strategyName</a></div><div class="ttdeci">static const char * strategyName(IcpStrategy strategy)</div><div class="ttdoc">Human-readable name for strategy (&quot;PCL&quot;, &quot;libpointmatcher&quot;, &quot;CCCoreLib&quot;, or &quot;Unknown&quot;).</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><div class="ttdoc">Statistics and diagnostics returned by Registration.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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