rtabmap::RegistrationIcp Class Reference

Inheritance diagram for rtabmap::RegistrationIcp:

Collaboration diagram for rtabmap::RegistrationIcp:

Public Types
enum	IcpStrategy {   kIcpUndef = -1 , kIcpPCL = 0 , kIcpPointMatcher = 1 , kIcpCCCoreLib = 2 ,   kIcpEnd = 3 }
Public Types inherited from rtabmap::Registration
enum	Type { kTypeUndef = -1 , kTypeVis = 0 , kTypeIcp = 1 , kTypeVisIcp = 2 }
	Registration strategy selected by Reg/Strategy. More...

Public Member Functions
	RegistrationIcp (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
	RegistrationIcp (IcpStrategy strategy, const ParametersMap &parameters=ParametersMap(), Registration *child=0)
virtual void	parseParameters (const ParametersMap &parameters)
	Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.
Public Member Functions inherited from rtabmap::Registration
bool	isImageRequired () const
	True if images are needed (parent or child).
bool	isScanRequired () const
	True if laser scans are needed (parent or child).
bool	isUserDataRequired () const
	True if user data is needed (parent or child).
bool	canUseGuess () const
	True if the strategy can refine an initial guess (parent or child).
int	getMinVisualCorrespondences () const
	Minimum visual inliers required (max of parent and child thresholds).
float	getMinGeometryCorrespondencesRatio () const
	Minimum geometry inlier ratio required (max of parent and child thresholds).
bool	repeatOnce () const
bool	force3DoF () const
void	setChildRegistration (Registration *child)
	Replaces the current child registration; takes ownership of child.
Transform	computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
	Registers from to to using immutable signatures (copied internally).
Transform	computeTransformation (const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
	Registers two SensorData observations (wrapped as signatures).
Transform	computeTransformationMod (Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
	Registers from to to; signatures may be modified by the implementation.

Static Public Member Functions
static bool	available (IcpStrategy strategy)
	Returns true if strategy is built into this rtabmap binary.
static const char *	strategyName (IcpStrategy strategy)
	Human-readable name for strategy ("PCL", "libpointmatcher", "CCCoreLib", or "Unknown").
Static Public Member Functions inherited from rtabmap::Registration
static Registration *	create (const ParametersMap &parameters)
	Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
static Registration *	create (Type &type, const ParametersMap &parameters=ParametersMap())
	Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.

Protected Member Functions
virtual Transform	computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
	Strategy-specific registration.
virtual bool	isScanRequiredImpl () const
virtual bool	canUseGuessImpl () const
virtual float	getMinGeometryCorrespondencesRatioImpl () const
Protected Member Functions inherited from rtabmap::Registration
	Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
	child is owned and deleted in the destructor.
virtual bool	isImageRequiredImpl () const
virtual bool	isUserDataRequiredImpl () const
virtual int	getMinVisualCorrespondencesImpl () const

Additional Inherited Members
Static Public Attributes inherited from rtabmap::Registration
static double	COVARIANCE_LINEAR_EPSILON
	Minimum diagonal value for linear covariance (m²).
static double	COVARIANCE_ANGULAR_EPSILON
	Minimum diagonal value for angular covariance (rad²).

Detailed Description

Definition at line 39 of file RegistrationIcp.h.

Member Enumeration Documentation

IcpStrategy

enum rtabmap::RegistrationIcp::IcpStrategy

Enumerator
kIcpUndef	Undefined / invalid type.
kIcpPCL	Point Cloud Library.
kIcpPointMatcher	libpointmatcher.
kIcpCCCoreLib	CCCoreLib (Cloud Compare).
kIcpEnd	Sentinel: always keep last. Used to iterate through strategies.

Definition at line 42 of file RegistrationIcp.h.

Member Function Documentation

available()

static bool rtabmap::RegistrationIcp::available ( IcpStrategy  strategy )

static

Returns true if strategy is built into this rtabmap binary.

kIcpPCL is always available; kIcpPointMatcher requires the RTABMAP_POINTMATCHER build flag; kIcpCCCoreLib requires RTABMAP_CCCORELIB.

parseParameters()

virtual void rtabmap::RegistrationIcp::parseParameters ( const ParametersMap &  parameters )

virtual

Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.

Reimplemented from rtabmap::Registration.

computeTransformationImpl()

virtual Transform rtabmap::RegistrationIcp::computeTransformationImpl ( Signature &  from, Signature &  to, Transform  guess, RegistrationInfo &  info  ) const

protectedvirtual

Strategy-specific registration.

May modify from and to; a child registration reuses those changes.

Implements rtabmap::Registration.

isScanRequiredImpl()

virtual bool rtabmap::RegistrationIcp::isScanRequiredImpl ( ) const

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 79 of file RegistrationIcp.h.

canUseGuessImpl()

virtual bool rtabmap::RegistrationIcp::canUseGuessImpl ( ) const

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 80 of file RegistrationIcp.h.

getMinGeometryCorrespondencesRatioImpl()

virtual float rtabmap::RegistrationIcp::getMinGeometryCorrespondencesRatioImpl ( ) const

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 81 of file RegistrationIcp.h.

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/RegistrationIcp.h