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266 lines
36 KiB
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.13</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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 REGISTRATIONVIS_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 REGISTRATIONVIS_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> <span class="comment">// DLL export/import defines</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 <rtabmap/core/Registration.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 <rtabmap/core/Signature.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</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="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">class </span>Feature2D;</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><span class="preprocessor">#ifdef RTABMAP_PYTHON</span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">class </span>PyMatcher;</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#endif</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="foldopen" id="foldopen00060" data-start="{" data-end="};">
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html"> 60</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1RegistrationVis.html">RegistrationVis</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a></div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span>{</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03"> 64</a></span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03">RegistrationVis</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * child = 0);</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationVis.html">~RegistrationVis</a>();</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e"> 68</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters);</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2"> 71</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2">getInlierDistance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _inlierDistance;}</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834"> 73</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834">getIterations</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _iterations;}</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4"> 75</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4">getMinInliers</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _minInliers;}</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347"> 77</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">getNNType</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nnType;}</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c"> 79</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">getNNTypeName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">getNNTypeName</a>(_nnType);}</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a770e36d382cf124c47847e50436ae40e"> 84</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a770e36d382cf124c47847e50436ae40e">getNNTypeName</a>(<span class="keywordtype">int</span> nnType);</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a"> 86</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">getNNDR</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _nndr;}</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31"> 88</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">getEstimationType</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _estimationType;}</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55"> 91</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55">getDetector</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _detectorFrom;}</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f"> 94</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f">computeTransformationImpl</a>(</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & from,</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> & to,</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess,</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> & info) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isImageRequiredImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">true</span>;}</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> canUseGuessImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _correspondencesApproach != 0 || _guessWinSize>0;}</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getMinVisualCorrespondencesImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _minInliers;}</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> </div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> _minInliers;</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">float</span> _inlierDistance;</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">int</span> _iterations;</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">int</span> _refineIterations;</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">float</span> _epipolarGeometryVar;</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">int</span> _estimationType;</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">float</span> _PnPReprojError;</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">int</span> _PnPFlags;</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">int</span> _PnPRefineIterations;</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">int</span> _PnPVarMedianRatio;</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">float</span> _PnPMaxVar;</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">bool</span> _PnPSplitLinearCovarianceComponents;</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _multiSamplingPolicy;</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordtype">int</span> _correspondencesApproach;</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">int</span> _flowWinSize;</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">int</span> _flowIterations;</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">float</span> _flowEps;</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">int</span> _flowMaxLevel;</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">bool</span> _flowGpu;</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">bool</span> _flowUseMinEigenVals;</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">float</span> _flowMinEigThreshold;</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">float</span> _flowErrorThreshold;</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">float</span> _nndr;</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">int</span> _nnType;</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">bool</span> _gmsWithRotation;</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">bool</span> _gmsWithScale;</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">double</span> _gmsThresholdFactor;</div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">int</span> _guessWinSize;</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">bool</span> _guessMatchToProjection;</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">int</span> _bundleAdjustment;</div>
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<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">bool</span> _depthAsMask;</div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">float</span> _maskFloorThreshold;</div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordtype">float</span> _minInliersDistributionThr;</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">float</span> _maxInliersMeanDistance;</div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> _featureParameters;</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> _bundleParameters;</div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> Feature2D * _detectorFrom;</div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> Feature2D * _detectorTo;</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="preprocessor">#ifdef RTABMAP_PYTHON</span></div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> PyMatcher * _pyMatcher;</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span>};</div>
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</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span>}</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span><span class="preprocessor">#endif </span><span class="comment">/* REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1Feature2D_html"><div class="ttname"><a href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></div><div class="ttdoc">Abstract 2D feature detector and descriptor extractor for visual SLAM.</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00145">Features2d.h:145</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><div class="ttdoc">Statistics and diagnostics returned by Registration.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html">rtabmap::RegistrationVis</a></div><div class="ttdoc">Visual registration between two signatures using features and geometry.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00060">RegistrationVis.h:61</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a0a860fb3509b4c5b135b66ebd5cd6e55"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55">rtabmap::RegistrationVis::getDetector</a></div><div class="ttdeci">const Feature2D * getDetector() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00091">RegistrationVis.h:91</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a488ecb8a7423996abdad98b0044cd7f2"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2">rtabmap::RegistrationVis::getInlierDistance</a></div><div class="ttdeci">float getInlierDistance() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00071">RegistrationVis.h:71</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a6560046940995044d7a51cb0066d420e"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e">rtabmap::RegistrationVis::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &parameters)</div><div class="ttdoc">Parses Vis/ and feature parameters; recreates feature detectors.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a697d562bebe30b73a1ecd34dabee4347"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347">rtabmap::RegistrationVis::getNNType</a></div><div class="ttdeci">int getNNType() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00077">RegistrationVis.h:77</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a770e36d382cf124c47847e50436ae40e"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a770e36d382cf124c47847e50436ae40e">rtabmap::RegistrationVis::getNNTypeName</a></div><div class="ttdeci">static std::string getNNTypeName(int nnType)</div><div class="ttdoc">Name of a Vis/CorNNType value.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a93331add1822dd6f02bc74efec6d6834"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834">rtabmap::RegistrationVis::getIterations</a></div><div class="ttdeci">int getIterations() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00073">RegistrationVis.h:73</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a951c79dd9be75b896c551e5213c0ee31"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">rtabmap::RegistrationVis::getEstimationType</a></div><div class="ttdeci">int getEstimationType() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00088">RegistrationVis.h:88</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_a9fd0ba3453d2c658d8a9b1cee5ba132c"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#a9fd0ba3453d2c658d8a9b1cee5ba132c">rtabmap::RegistrationVis::getNNTypeName</a></div><div class="ttdeci">std::string getNNTypeName() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00079">RegistrationVis.h:79</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_aa47fd3a0599ee918e024161db330a92f"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f">rtabmap::RegistrationVis::computeTransformationImpl</a></div><div class="ttdeci">virtual Transform computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const</div><div class="ttdoc">Strategy-specific registration.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_aa845f7fbbfc8fc340dba96a2a6550d03"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03">rtabmap::RegistrationVis::RegistrationVis</a></div><div class="ttdeci">RegistrationVis(const ParametersMap &parameters=ParametersMap(), Registration *child=0)</div><div class="ttdoc">child is owned and deleted in the destructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_ae951e95c4ae2ea1ab5c4d849823d66c4"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4">rtabmap::RegistrationVis::getMinInliers</a></div><div class="ttdeci">int getMinInliers() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00075">RegistrationVis.h:75</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationVis_html_aed9e9e593b290a4be1aeda05967a631a"><div class="ttname"><a href="classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a">rtabmap::RegistrationVis::getNNDR</a></div><div class="ttdeci">float getNNDR() const</div><div class="ttdef"><b>Definition</b> <a href="RegistrationVis_8h_source.html#l00086">RegistrationVis.h:86</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
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<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>
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<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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<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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