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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/classrtabmap_1_1RegistrationIcp.html
+48 -27
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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"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<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>
@@ -50,6 +55,23 @@ $(function() {
/* @license-end */
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('classrtabmap_1_1RegistrationIcp.html',''); initResizable(); });
/* @license-end */
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<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
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@@ -71,11 +93,6 @@ $(function() {
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="summary">
<a href="#pub-types">Public Types</a> &#124;
@@ -95,7 +112,7 @@ Inheritance diagram for rtabmap::RegistrationIcp:</div>
<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"/>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<div class="dynheader">
Collaboration diagram for rtabmap::RegistrationIcp:</div>
<div class="dyncontent">
@@ -105,7 +122,7 @@ Collaboration diagram for rtabmap::RegistrationIcp:</div>
<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 href="graph_legend.html">legend</a>]</span></center></div>
<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>
@@ -120,10 +137,10 @@ Public Types</h2></td></tr>
}</td></tr>
<tr class="separator:a59f6aec4f68d2f7402253c942bfe3fab"><td class="memSeparator" colspan="2">&#160;</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="-"/>&#160;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 &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">Type</a> { <b>kTypeUndef</b> = -1
, <b>kTypeVis</b> = 0
, <b>kTypeIcp</b> = 1
, <b>kTypeVisIcp</b> = 2
<tr class="memitem:ae693713cd8b7ece4b147eae99880b849 inherit pub_types_classrtabmap_1_1Registration" id="r_ae693713cd8b7ece4b147eae99880b849"><td class="memItemLeft" align="right" valign="top">enum &#160;</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">&#160;</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">&#160;</td></tr>
@@ -131,13 +148,13 @@ Public Types</h2></td></tr>
<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>
&#160;</td><td class="memItemRight" valign="bottom"><b>RegistrationIcp</b> (const ParametersMap &amp;parameters=ParametersMap(), <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *child=0)</td></tr>
&#160;</td><td class="memItemRight" valign="bottom"><b>RegistrationIcp</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;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">&#160;</td></tr>
<tr class="memitem:a648d10711ebfad7f93b049b020cf03b9" id="r_a648d10711ebfad7f93b049b020cf03b9"><td class="memItemLeft" align="right" valign="top"><a id="a648d10711ebfad7f93b049b020cf03b9" name="a648d10711ebfad7f93b049b020cf03b9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>RegistrationIcp</b> (<a class="el" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> strategy, const ParametersMap &amp;parameters=ParametersMap(), <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *child=0)</td></tr>
&#160;</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> &amp;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">&#160;</td></tr>
<tr class="memitem:abd60fffd946201723c35beebc7bfea6a" id="r_abd60fffd946201723c35beebc7bfea6a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a">parseParameters</a> (const ParametersMap &amp;parameters)</td></tr>
<tr class="memdesc:abd60fffd946201723c35beebc7bfea6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parses <b>Reg/RepeatOnce</b>, <b>Reg/Force3DoF</b> and forwards to child_ if set. <br /></td></tr>
<tr class="memitem:abd60fffd946201723c35beebc7bfea6a" id="r_abd60fffd946201723c35beebc7bfea6a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</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> &amp;parameters)</td></tr>
<tr class="memdesc:abd60fffd946201723c35beebc7bfea6a"><td class="mdescLeft">&#160;</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">&#160;</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="-"/>&#160;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">
@@ -170,7 +187,7 @@ float&#160;</td><td class="memItemRight" valign="bottom"><b>getMinGeometryCorres
<tr class="separator:abb255bdab60a262f9cfc5d868e50cc9c inherit pub_methods_classrtabmap_1_1Registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac105402feeb2ec6551235296604145aa inherit pub_methods_classrtabmap_1_1Registration" id="r_ac105402feeb2ec6551235296604145aa"><td class="memItemLeft" align="right" valign="top">
void&#160;</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">&#160;</td><td class="mdescRight">Replaces child_; takes ownership of <code>child</code>. <br /></td></tr>
<tr class="memdesc:ac105402feeb2ec6551235296604145aa inherit pub_methods_classrtabmap_1_1Registration"><td class="mdescLeft">&#160;</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">&#160;</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>&#160;</td><td class="memItemRight" valign="bottom"><b>computeTransformation</b> (const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &amp;from, const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &amp;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>
@@ -196,12 +213,12 @@ static const char *&#160;</td><td class="memItemRight" valign="bottom"><b>strate
<tr class="separator:aef9238a37e0b70c9368b2e20cfe7df12"><td class="memSeparator" colspan="2">&#160;</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="-"/>&#160;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> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (const ParametersMap &amp;parameters)</td></tr>
static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
<tr class="memdesc:a516e8d64cdb3e7a743a3aa40ab026def inherit pub_static_methods_classrtabmap_1_1Registration"><td class="mdescLeft">&#160;</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">&#160;</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> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">Type</a> &amp;type, const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memdesc:a1e3493a850551c98f9e814fed74400e6 inherit pub_static_methods_classrtabmap_1_1Registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a registration of <code>type</code> (may be adjusted, e.g. to kTypeVis). Caller owns the pointer. <br /></td></tr>
static <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">Type</a> &amp;type, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;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">&#160;</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">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
@@ -217,7 +234,7 @@ Protected Member Functions</h2></td></tr>
<tr class="separator:a81fd88443c52b0d0a8288cafd3fba93c"><td class="memSeparator" colspan="2">&#160;</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="-"/>&#160;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">
&#160;</td><td class="memItemRight" valign="bottom"><b>Registration</b> (const ParametersMap &amp;parameters=ParametersMap(), <a class="el" href="classrtabmap_1_1Registration.html">Registration</a> *child=0)</td></tr>
&#160;</td><td class="memItemRight" valign="bottom"><b>Registration</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;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">&#160;</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">&#160;</td></tr>
<tr class="memitem:a8b3d47766e19c82f87e538205853f434 inherit pro_methods_classrtabmap_1_1Registration" id="r_a8b3d47766e19c82f87e538205853f434"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Registration.html#a8b3d47766e19c82f87e538205853f434">isImageRequiredImpl</a> () const</td></tr>
@@ -295,7 +312,7 @@ Additional Inherited Members</h2></td></tr>
</div><div class="memdoc">
<p>Returns true if <code>strategy</code> is built into this rtabmap binary. </p>
<p>kPCL is always available; kPointMatcher requires the RTABMAP_POINTMATCHER build flag; kCCCoreLib requires RTABMAP_CCCORELIB. </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>
</div>
</div>
@@ -311,7 +328,7 @@ Additional Inherited Members</h2></td></tr>
<tr>
<td class="memname">virtual void rtabmap::RegistrationIcp::parseParameters </td>
<td>(</td>
<td class="paramtype">const ParametersMap &amp;&#160;</td>
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</td>
<td class="paramname"><em>parameters</em></td><td>)</td>
<td></td>
</tr>
@@ -323,7 +340,7 @@ Additional Inherited Members</h2></td></tr>
</table>
</div><div class="memdoc">
<p>Parses <b>Reg/RepeatOnce</b>, <b>Reg/Force3DoF</b> and forwards to child_ if set. </p>
<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>
@@ -376,7 +393,7 @@ Additional Inherited Members</h2></td></tr>
</div><div class="memdoc">
<p>Strategy-specific registration. </p>
<p>May modify <code>from</code> and <code>to</code>; a child_ registration reuses those changes. </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>
@@ -473,9 +490,13 @@ Additional Inherited Members</h2></td></tr>
<li>corelib/include/rtabmap/core/<a class="el" href="RegistrationIcp_8h_source.html">RegistrationIcp.h</a></li>
</ul>
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