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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.11</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>
<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 RTABMAP_REGISTRATION_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define RTABMAP_REGISTRATION_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/Parameters.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><span class="preprocessor">#include &lt;rtabmap/core/RegistrationInfo.h&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="foldopen" id="foldopen00060" data-start="{" data-end="};">
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html"> 60</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span>{</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00064" data-start="{" data-end="};">
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849"> 64</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">Type</a> {</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a1e25205ebb65fe2315a0b7050e613c6d"> 65</a></span> kTypeUndef = -1, </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8e6dbf98a9a843c34d16b8c7e546c724"> 66</a></span> kTypeVis = 0, </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849a8638e369c895a337f587e727e1a712ab"> 67</a></span> kTypeIcp = 1, </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> kTypeVisIcp = 2 </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849ad03189dad590b6e2d81adbc7d20bf662"> 69</a></span> };</div>
</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a7c8c2d7a65357ef9f5d60ce3f763f4b3"> 71</a></span> <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1Registration.html#a7c8c2d7a65357ef9f5d60ce3f763f4b3">COVARIANCE_LINEAR_EPSILON</a>;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ae40b7ab65642aac9f21f44887b23b97d"> 73</a></span> <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1Registration.html#ae40b7ab65642aac9f21f44887b23b97d">COVARIANCE_ANGULAR_EPSILON</a>;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a516e8d64cdb3e7a743a3aa40ab026def"> 77</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * <a class="code hl_function" href="classrtabmap_1_1Registration.html#a516e8d64cdb3e7a743a3aa40ab026def">create</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="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a1e3493a850551c98f9e814fed74400e6"> 79</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * <a class="code hl_function" href="classrtabmap_1_1Registration.html#a1e3493a850551c98f9e814fed74400e6">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">Type</a> &amp; type, <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>());</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Registration.html">~Registration</a>();</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a0f409a8f0973667ef1687fe102bbf930"> 84</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#a0f409a8f0973667ef1687fe102bbf930">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="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ae10ae7b6dbf4d5396db66600ebe18228"> 87</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#ae10ae7b6dbf4d5396db66600ebe18228">isImageRequired</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#aa0748ad5a576d0919ef0d360137e5ea7"> 89</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#aa0748ad5a576d0919ef0d360137e5ea7">isScanRequired</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a3cd064c74588fd13cce178596e188b5d"> 91</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#a3cd064c74588fd13cce178596e188b5d">isUserDataRequired</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ab000f795ec498882585a634c2dafec05"> 94</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#ab000f795ec498882585a634c2dafec05">canUseGuess</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#abc02df4842af900fbb5da75b8e5318e0"> 97</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#abc02df4842af900fbb5da75b8e5318e0">getMinVisualCorrespondences</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ac4baf87f079ce52df845805b84cad6c9"> 99</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#ac4baf87f079ce52df845805b84cad6c9">getMinGeometryCorrespondencesRatio</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864"> 102</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864">repeatOnce</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> repeatOnce_;}</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#abb255bdab60a262f9cfc5d868e50cc9c"> 104</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#abb255bdab60a262f9cfc5d868e50cc9c">force3DoF</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> force3DoF_;}</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#ac105402feeb2ec6551235296604145aa"> 107</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#ac105402feeb2ec6551235296604145aa">setChildRegistration</a>(<a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * child);</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#aa6b81a6f4137138a1b49510cc3f97679"> 110</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Registration.html#aa6b81a6f4137138a1b49510cc3f97679">computeTransformation</a>(</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; from,</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; to,</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess = Transform::getIdentity(),</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> * info = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a42d0c93204bc4da11eb89707ea2c03c6"> 116</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Registration.html#a42d0c93204bc4da11eb89707ea2c03c6">computeTransformation</a>(</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; from,</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; to,</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess = Transform::getIdentity(),</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> * info = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a44530cd77f6d0a9657251864fb136c0d"> 123</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Registration.html#a44530cd77f6d0a9657251864fb136c0d">computeTransformationMod</a>(</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; from,</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; to,</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess = Transform::getIdentity(),</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> * info = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a7d0ff4149da7f5839308ff543932b067"> 131</a></span> <a class="code hl_function" href="classrtabmap_1_1Registration.html#a7d0ff4149da7f5839308ff543932b067">Registration</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="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Registration.html#a21635a391a85b64bc33787179a6cd71b"> 138</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_1Registration.html#a21635a391a85b64bc33787179a6cd71b">computeTransformationImpl</a>(</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; from,</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; to,</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess,</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> &amp; info) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</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">false</span>;}</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</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">false</span>;}</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isUserDataRequiredImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</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">false</span>;}</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getMinVisualCorrespondencesImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> 0;}</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">virtual</span> <span class="keywordtype">float</span> getMinGeometryCorrespondencesRatioImpl()<span class="keyword"> const </span>{<span class="keywordflow">return</span> 0.0f;}</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">bool</span> repeatOnce_;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">bool</span> force3DoF_;</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> Registration * child_;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> </div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span>};</div>
</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span>}</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAP_REGISTRATION_H_ */</span><span class="preprocessor"></span></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_1Registration_html_a0f409a8f0973667ef1687fe102bbf930"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a0f409a8f0973667ef1687fe102bbf930">rtabmap::Registration::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_1Registration_html_a1e3493a850551c98f9e814fed74400e6"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a1e3493a850551c98f9e814fed74400e6">rtabmap::Registration::create</a></div><div class="ttdeci">static Registration * create(Type &amp;type, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a21635a391a85b64bc33787179a6cd71b"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a21635a391a85b64bc33787179a6cd71b">rtabmap::Registration::computeTransformationImpl</a></div><div class="ttdeci">virtual Transform computeTransformationImpl(Signature &amp;from, Signature &amp;to, Transform guess, RegistrationInfo &amp;info) const =0</div><div class="ttdoc">Strategy-specific registration.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a3cd064c74588fd13cce178596e188b5d"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a3cd064c74588fd13cce178596e188b5d">rtabmap::Registration::isUserDataRequired</a></div><div class="ttdeci">bool isUserDataRequired() const</div><div class="ttdoc">True if user data is needed (parent or child).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a42d0c93204bc4da11eb89707ea2c03c6"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a42d0c93204bc4da11eb89707ea2c03c6">rtabmap::Registration::computeTransformation</a></div><div class="ttdeci">Transform computeTransformation(const SensorData &amp;from, const SensorData &amp;to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const</div><div class="ttdoc">Registers two SensorData observations (wrapped as signatures).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a44530cd77f6d0a9657251864fb136c0d"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a44530cd77f6d0a9657251864fb136c0d">rtabmap::Registration::computeTransformationMod</a></div><div class="ttdeci">Transform computeTransformationMod(Signature &amp;from, Signature &amp;to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const</div><div class="ttdoc">Registers from to to; signatures may be modified by the implementation.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a516e8d64cdb3e7a743a3aa40ab026def"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a516e8d64cdb3e7a743a3aa40ab026def">rtabmap::Registration::create</a></div><div class="ttdeci">static Registration * create(const ParametersMap &amp;parameters)</div><div class="ttdoc">Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a7a9163259eaebff421953e194a623864"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864">rtabmap::Registration::repeatOnce</a></div><div class="ttdeci">bool repeatOnce() const</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00102">Registration.h:102</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a7c8c2d7a65357ef9f5d60ce3f763f4b3"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a7c8c2d7a65357ef9f5d60ce3f763f4b3">rtabmap::Registration::COVARIANCE_LINEAR_EPSILON</a></div><div class="ttdeci">static double COVARIANCE_LINEAR_EPSILON</div><div class="ttdoc">Minimum diagonal value for linear covariance (m²).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00071">Registration.h:71</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_a7d0ff4149da7f5839308ff543932b067"><div class="ttname"><a href="classrtabmap_1_1Registration.html#a7d0ff4149da7f5839308ff543932b067">rtabmap::Registration::Registration</a></div><div class="ttdeci">Registration(const ParametersMap &amp;parameters=ParametersMap(), Registration *child=0)</div><div class="ttdoc">child is owned and deleted in the destructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_aa0748ad5a576d0919ef0d360137e5ea7"><div class="ttname"><a href="classrtabmap_1_1Registration.html#aa0748ad5a576d0919ef0d360137e5ea7">rtabmap::Registration::isScanRequired</a></div><div class="ttdeci">bool isScanRequired() const</div><div class="ttdoc">True if laser scans are needed (parent or child).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_aa6b81a6f4137138a1b49510cc3f97679"><div class="ttname"><a href="classrtabmap_1_1Registration.html#aa6b81a6f4137138a1b49510cc3f97679">rtabmap::Registration::computeTransformation</a></div><div class="ttdeci">Transform computeTransformation(const Signature &amp;from, const Signature &amp;to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const</div><div class="ttdoc">Registers from to to using immutable signatures (copied internally).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_ab000f795ec498882585a634c2dafec05"><div class="ttname"><a href="classrtabmap_1_1Registration.html#ab000f795ec498882585a634c2dafec05">rtabmap::Registration::canUseGuess</a></div><div class="ttdeci">bool canUseGuess() const</div><div class="ttdoc">True if the strategy can refine an initial guess (parent or child).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_abb255bdab60a262f9cfc5d868e50cc9c"><div class="ttname"><a href="classrtabmap_1_1Registration.html#abb255bdab60a262f9cfc5d868e50cc9c">rtabmap::Registration::force3DoF</a></div><div class="ttdeci">bool force3DoF() const</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00104">Registration.h:104</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_abc02df4842af900fbb5da75b8e5318e0"><div class="ttname"><a href="classrtabmap_1_1Registration.html#abc02df4842af900fbb5da75b8e5318e0">rtabmap::Registration::getMinVisualCorrespondences</a></div><div class="ttdeci">int getMinVisualCorrespondences() const</div><div class="ttdoc">Minimum visual inliers required (max of parent and child thresholds).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_ac105402feeb2ec6551235296604145aa"><div class="ttname"><a href="classrtabmap_1_1Registration.html#ac105402feeb2ec6551235296604145aa">rtabmap::Registration::setChildRegistration</a></div><div class="ttdeci">void setChildRegistration(Registration *child)</div><div class="ttdoc">Replaces the current child registration; takes ownership of child.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_ac4baf87f079ce52df845805b84cad6c9"><div class="ttname"><a href="classrtabmap_1_1Registration.html#ac4baf87f079ce52df845805b84cad6c9">rtabmap::Registration::getMinGeometryCorrespondencesRatio</a></div><div class="ttdeci">float getMinGeometryCorrespondencesRatio() const</div><div class="ttdoc">Minimum geometry inlier ratio required (max of parent and child thresholds).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_ae10ae7b6dbf4d5396db66600ebe18228"><div class="ttname"><a href="classrtabmap_1_1Registration.html#ae10ae7b6dbf4d5396db66600ebe18228">rtabmap::Registration::isImageRequired</a></div><div class="ttdeci">bool isImageRequired() const</div><div class="ttdoc">True if images are needed (parent or child).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_ae40b7ab65642aac9f21f44887b23b97d"><div class="ttname"><a href="classrtabmap_1_1Registration.html#ae40b7ab65642aac9f21f44887b23b97d">rtabmap::Registration::COVARIANCE_ANGULAR_EPSILON</a></div><div class="ttdeci">static double COVARIANCE_ANGULAR_EPSILON</div><div class="ttdoc">Minimum diagonal value for angular covariance (rad²).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00073">Registration.h:73</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html_ae693713cd8b7ece4b147eae99880b849"><div class="ttname"><a href="classrtabmap_1_1Registration.html#ae693713cd8b7ece4b147eae99880b849">rtabmap::Registration::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Registration strategy selected by Reg/Strategy.</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00064">Registration.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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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