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@@ -253,7 +253,7 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a6ac0f56608f1760d60eda7861b8dc303"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">rtabmap::util3d::icpPointToPlane</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT icpPointToPlane(const pcl::PointCloud&lt; pcl::PointNormal &gt;::ConstPtr &amp;cloud_source, const pcl::PointCloud&lt; pcl::PointNormal &gt;::ConstPtr &amp;cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &amp;hasConverged, pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)</div><div class="ttdoc">Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aab3ff771d2b43075bb8e7ca6e730c37c"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c">rtabmap::util3d::transformFromXYZCorrespondences</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::ConstPtr &amp;cloud1, const pcl::PointCloud&lt; pcl::PointXYZ &gt;::ConstPtr &amp;cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector&lt; int &gt; *inliers=0, cv::Mat *variance=0)</div><div class="ttdoc">Estimates a rigid transformation between two point clouds using RANSAC with optional refinement.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_af9f16d681288b1f91ce6e5a8ee9f6967"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">rtabmap::util3d::icp</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT icp(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::ConstPtr &amp;cloud_source, const pcl::PointCloud&lt; pcl::PointXYZ &gt;::ConstPtr &amp;cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &amp;hasConverged, pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)</div><div class="ttdoc">Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting t...</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#l00041">BayesFilter.h:41</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#l00042">BayesFilter.h:42</a></div></div>
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