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/RegistrationVis.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 REGISTRATIONVIS_H_
+#define REGISTRATIONVIS_H_
+
+#include <rtabmap/core/Registration.h>
+#include <rtabmap/core/Signature.h>
+
+namespace rtabmap {
+
+// Visual registration
+class RegistrationVis : public Registration
+{
+public:
+	RegistrationVis(const ParametersMap & parameters = ParametersMap());
+	virtual ~RegistrationVis() {}
+
+	virtual void parseParameters(const ParametersMap & parameters);
+
+	virtual Transform computeTransformation(
+			const Signature & from,
+			const Signature & to,
+			Transform guess = Transform::getIdentity(), // guess is ignored for RegistrationVis
+			std::string * rejectedMsg = 0,
+			int * inliersOut = 0,
+			float * varianceOut = 0,
+			float * inliersRatioOut = 0);
+
+	float getBowInlierDistance() const {return _bowInlierDistance;}
+	int getBowIterations() const {return _bowIterations;}
+	int getBowMinInliers() const {return _bowMinInliers;}
+	bool getBowForce2D() const {return _bowForce2D;}
+
+private:
+	int _bowMinInliers;
+	float _bowInlierDistance;
+	int _bowIterations;
+	int _bowRefineIterations;
+	bool _bowForce2D;
+	float _bowEpipolarGeometryVar;
+	int _bowEstimationType;
+	double _bowPnPReprojError;
+	int _bowPnPFlags;
+
+	int _reextractNNType;
+	float _reextractNNDR;
+	int _reextractFeatureType;
+	int _reextractMaxWords;
+	float _reextractMaxDepth;
+	float _reextractMinDepth;
+	std::string _reextractRoiRatios;
+
+	int _subPixWinSize;
+	int _subPixIterations;
+	double _subPixEps;
+
+};
+
+}
+
+#endif /* REGISTRATION_H_ */