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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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||||
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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||||
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
|
||||
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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||||
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
|
||||
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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||||
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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||||
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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||||
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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||||
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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||||
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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||||
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
|
||||
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
|
||||
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
|
||||
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
|
||||
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
|
||||
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
|
||||
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
|
||||
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
|
||||
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
|
||||
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef UTIL3D_REGISTRATION_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define UTIL3D_REGISTRATION_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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||||
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include <rtabmap/core/rtabmap_core_export.h></span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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||||
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <pcl/point_cloud.h></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <pcl/point_types.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>{</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">namespace </span>util3d</div>
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||||
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span>{</div>
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||||
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
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||||
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT getCorrespondencesCount(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,</div>
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||||
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,</div>
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||||
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">float</span> maxDistance);</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span>Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(</div>
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||||
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud1,</div>
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||||
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud2);</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
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||||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span>Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(</div>
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||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">double</span> inlierThreshold = 0.02,</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> iterations = 100,</div>
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||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> refineModelIterations = 10,</div>
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||||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">double</span> refineModelSigma = 3.0,</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> std::vector<int> * inliers = 0,</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> cv::Mat * variance = 0);</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665"> 141</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,</div>
|
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,</div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// <=0 means that we don't care about normal angle difference</span></div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">double</span> & variance,</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">bool</span> reciprocal);</div>
|
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaae6ddd0517614e9332669c37c6816777"> 153</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// <=0 means that we don't care about normal angle difference</span></div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">double</span> & variance,</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">bool</span> reciprocal);</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga92518a7b79e9265380f3a047e46ec247"> 165</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,</div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">double</span> & variance,</div>
|
||||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">bool</span> reciprocal);</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga7d90c0848a13e35f37588addf3637fe2"> 176</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,</div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,</div>
|
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">double</span> & variance,</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">bool</span> reciprocal);</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
|
||||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icp(</div>
|
||||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icp(</div>
|
||||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icpPointToPlane(</div>
|
||||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icpPointToPlane(</div>
|
||||
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
|
||||
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span>} <span class="comment">// namespace util3d</span></div>
|
||||
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> </div>
|
||||
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_REGISTRATION_H_ */</span><span class="preprocessor"></span></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="agroup__ComputeVarianceAndCorrespondences_html_gaf474f9fb6eaaf532e9b18af63b9e1665"><div class="ttname"><a href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">rtabmap::util3d::computeVarianceAndCorrespondences</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)</div><div class="ttdoc">Compute with variance and correspondences of pcl::PointNormal point cloud type.</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>
|
||||
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