Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used

corelib/include/rtabmap/core/RegistrationIcp.h

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+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef REGISTRATIONICP_H_
+#define REGISTRATIONICP_H_
+
+#include <rtabmap/core/Registration.h>
+#include <rtabmap/core/Signature.h>
+
+namespace rtabmap {
+
+// Geometrical registration
+class RegistrationIcp : public Registration
+{
+public:
+	RegistrationIcp(const ParametersMap & parameters = ParametersMap());
+	virtual ~RegistrationIcp() {}
+
+	virtual void parseParameters(const ParametersMap & parameters);
+
+	virtual Transform computeTransformation(
+			const Signature & from,
+			const Signature & to,
+			Transform guess = Transform::getIdentity(),
+			std::string * rejectedMsg = 0,
+			int * inliersOut = 0,
+			float * varianceOut = 0,
+			float * inliersRatioOut = 0);
+
+	Transform computeTransformation(
+			const SensorData & from,
+			const SensorData & to,
+			Transform guess = Transform::getIdentity(),
+			std::string * rejectedMsg = 0,
+			int * inliersOut = 0,
+			float * varianceOut = 0,
+			float * inliersRatioOut = 0);
+
+private:
+	float _icpMaxTranslation;
+	float _icpMaxRotation;
+	bool _icp2D;
+	float _icpVoxelSize;
+	int _icpDownsamplingStep;
+	float _icpMaxCorrespondenceDistance;
+	int _icpMaxIterations;
+	float _icpCorrespondenceRatio;
+	bool _icpPointToPlane;
+	int _icpPointToPlaneNormalNeighbors;
+};
+
+}
+
+#endif /* REGISTRATIONICP_H_ */