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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>
<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>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<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 &quot;AS IS&quot; AND</span></div>
<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>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef REGISTRATIONICP_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define REGISTRATIONICP_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/core/Registration.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/core/Signature.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<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>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="comment">// Geometrical registration</span></div>
<div class="foldopen" id="foldopen00039" data-start="{" data-end="};">
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html"> 39</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00042" data-start="{" data-end="};">
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab"> 42</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> {</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabadebfaf4d0822a35b7b56f37f9c133327"> 43</a></span> kIcpUndef = -1, </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabafd4289953af3132d6d334fb438f22ace"> 44</a></span> kIcpPCL = 0, </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabac978d96078e7e0209d4a25894de3c805"> 45</a></span> kIcpPointMatcher = 1, </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3faba0f8b0cfe29412a3d66af5eb19dd7c0db"> 46</a></span> kIcpCCCoreLib = 2, </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> kIcpEnd = 3 </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabaf6639ca6ae5f75d631dbbf7f61455881"> 48</a></span> };</div>
</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a892ab46eff4e5b0b16bee7d93fa3ba56"> 58</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationIcp.html#a892ab46eff4e5b0b16bee7d93fa3ba56">available</a>(<a class="code hl_enumeration" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> strategy);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#aef9238a37e0b70c9368b2e20cfe7df12"> 64</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code hl_function" href="classrtabmap_1_1RegistrationIcp.html#aef9238a37e0b70c9368b2e20cfe7df12">strategyName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> strategy);</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="comment">// take ownership of child</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; 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>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>(<a class="code hl_enumeration" href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">IcpStrategy</a> strategy, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; 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>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationIcp.html">~RegistrationIcp</a>();</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a"> 71</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5"> 74</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_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5">computeTransformationImpl</a>(</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; from,</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; to,</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess,</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> &amp; info) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isScanRequiredImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">true</span>;}</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> canUseGuessImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">true</span>;}</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">virtual</span> <span class="keywordtype">float</span> getMinGeometryCorrespondencesRatioImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _correspondenceRatio;}</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> IcpStrategy _strategy;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keywordtype">float</span> _maxTranslation;</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keywordtype">float</span> _maxRotation;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordtype">float</span> _voxelSize;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordtype">int</span> _downsamplingStep;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keywordtype">float</span> _rangeMin;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordtype">float</span> _rangeMax;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keywordtype">float</span> _maxCorrespondenceDistance;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordtype">bool</span> _reciprocalCorrespondences;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">int</span> _maxIterations;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordtype">float</span> _epsilon;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">float</span> _correspondenceRatio;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">bool</span> _force4DoF;</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">int</span> _filtersEnabled;</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordtype">bool</span> _pointToPlane;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">int</span> _pointToPlaneK;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">float</span> _pointToPlaneRadius;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">float</span> _pointToPlaneGroundNormalsUp;</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">float</span> _pointToPlaneMinComplexity;</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">bool</span> _pointToPlaneComplexityCentered;</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">int</span> _pointToPlaneLowComplexityStrategy;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> std::string _libpointmatcherConfig;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> _libpointmatcherKnn;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">float</span> _libpointmatcherEpsilon;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">bool</span> _libpointmatcherIntensity;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">float</span> _outlierRatio;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _ccSamplingLimit;</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">bool</span> _ccFilterOutFarthestPoints;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">double</span> _ccMaxFinalRMS;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> std::string _debugExportFormat;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> std::string _workingDir;</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">void</span> * _libpointmatcherICP;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">void</span> * _libpointmatcherICPFilters;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span>};</div>
</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span>}</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span><span class="preprocessor">#endif </span><span class="comment">/* REGISTRATIONICP_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html">rtabmap::RegistrationIcp</a></div><div class="ttdef"><b>Definition</b> <a href="RegistrationIcp_8h_source.html#l00039">RegistrationIcp.h:40</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_a59f6aec4f68d2f7402253c942bfe3fab"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab">rtabmap::RegistrationIcp::IcpStrategy</a></div><div class="ttdeci">IcpStrategy</div><div class="ttdef"><b>Definition</b> <a href="RegistrationIcp_8h_source.html#l00042">RegistrationIcp.h:42</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_a892ab46eff4e5b0b16bee7d93fa3ba56"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#a892ab46eff4e5b0b16bee7d93fa3ba56">rtabmap::RegistrationIcp::available</a></div><div class="ttdeci">static bool available(IcpStrategy strategy)</div><div class="ttdoc">Returns true if strategy is built into this rtabmap binary.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_a8a18107160cfc05cfb8a5109540d81b5"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5">rtabmap::RegistrationIcp::computeTransformationImpl</a></div><div class="ttdeci">virtual Transform computeTransformationImpl(Signature &amp;from, Signature &amp;to, Transform guess, RegistrationInfo &amp;info) const</div><div class="ttdoc">Strategy-specific registration.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_abd60fffd946201723c35beebc7bfea6a"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a">rtabmap::RegistrationIcp::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationIcp_html_aef9238a37e0b70c9368b2e20cfe7df12"><div class="ttname"><a href="classrtabmap_1_1RegistrationIcp.html#aef9238a37e0b70c9368b2e20cfe7df12">rtabmap::RegistrationIcp::strategyName</a></div><div class="ttdeci">static const char * strategyName(IcpStrategy strategy)</div><div class="ttdoc">Human-readable name for strategy (&quot;PCL&quot;, &quot;libpointmatcher&quot;, &quot;CCCoreLib&quot;, or &quot;Unknown&quot;).</div></div>
<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>
<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>
<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>
<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="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>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; 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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