Abstract base for registering two observations (visual, ICP, or both).
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#include <Registration.h>
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| enum | Type { kTypeUndef = -1
, kTypeVis = 0
, kTypeIcp = 1
, kTypeVisIcp = 2
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| | Registration strategy selected by Reg/Strategy. More...
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| virtual void | parseParameters (const ParametersMap ¶meters) |
| | Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
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bool | isImageRequired () const |
| | True if images are needed (parent or child).
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bool | isScanRequired () const |
| | True if laser scans are needed (parent or child).
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bool | isUserDataRequired () const |
| | True if user data is needed (parent or child).
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bool | canUseGuess () const |
| | True if the strategy can refine an initial guess (parent or child).
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int | getMinVisualCorrespondences () const |
| | Minimum visual inliers required (max of parent and child thresholds).
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float | getMinGeometryCorrespondencesRatio () const |
| | Minimum geometry inlier ratio required (max of parent and child thresholds).
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| bool | repeatOnce () const |
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| bool | force3DoF () const |
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void | setChildRegistration (Registration *child) |
| | Replaces child_; takes ownership of child.
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Transform | computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const |
| | Registers from to to using immutable signatures (copied internally).
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Transform | computeTransformation (const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const |
| | Registers two SensorData observations (wrapped as signatures).
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Transform | computeTransformationMod (Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const |
| | Registers from to to; signatures may be modified by the implementation.
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static Registration * | create (const ParametersMap ¶meters) |
| | Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
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static Registration * | create (Type &type, const ParametersMap ¶meters=ParametersMap()) |
| | Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
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Abstract base for registering two observations (visual, ICP, or both).
Factory create() builds RegistrationVis, RegistrationIcp, or RegistrationVisIcp from Reg/Strategy in a ParametersMap.
computeTransformation() wraps signatures and delegates to computeTransformationMod(), which calls computeTransformationImpl() on the concrete strategy, optionally chains a child_ registration (e.g. ICP after visual), applies Reg/Force3DoF, and may repeat once with the first result as guess when Reg/RepeatOnce is enabled.
Requirement queries (isImageRequired(), isScanRequired(), etc.) OR-combine with the child when the parent returns false. Minimum correspondence thresholds take the maximum between parent and child.
- See also
- RegistrationVis
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RegistrationIcp
-
RegistrationInfo
Definition at line 60 of file Registration.h.
◆ Type
◆ parseParameters()
| virtual void rtabmap::Registration::parseParameters |
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const ParametersMap & |
parameters | ) |
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virtual |
◆ repeatOnce()
| bool rtabmap::Registration::repeatOnce |
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const |
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inline |
◆ force3DoF()
| bool rtabmap::Registration::force3DoF |
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const |
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inline |
◆ computeTransformationImpl()
◆ isImageRequiredImpl()
| virtual bool rtabmap::Registration::isImageRequiredImpl |
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const |
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inlineprotectedvirtual |
◆ isScanRequiredImpl()
| virtual bool rtabmap::Registration::isScanRequiredImpl |
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const |
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inlineprotectedvirtual |
◆ isUserDataRequiredImpl()
| virtual bool rtabmap::Registration::isUserDataRequiredImpl |
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const |
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inlineprotectedvirtual |
◆ canUseGuessImpl()
| virtual bool rtabmap::Registration::canUseGuessImpl |
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const |
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inlineprotectedvirtual |
◆ getMinVisualCorrespondencesImpl()
| virtual int rtabmap::Registration::getMinVisualCorrespondencesImpl |
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const |
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inlineprotectedvirtual |
◆ getMinGeometryCorrespondencesRatioImpl()
| virtual float rtabmap::Registration::getMinGeometryCorrespondencesRatioImpl |
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const |
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inlineprotectedvirtual |
◆ COVARIANCE_LINEAR_EPSILON
| double rtabmap::Registration::COVARIANCE_LINEAR_EPSILON |
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static |
Minimum diagonal value for linear covariance (m²).
Definition at line 71 of file Registration.h.
◆ COVARIANCE_ANGULAR_EPSILON
| double rtabmap::Registration::COVARIANCE_ANGULAR_EPSILON |
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static |
Minimum diagonal value for angular covariance (rad²).
Definition at line 73 of file Registration.h.
The documentation for this class was generated from the following file:
