Visual registration between two signatures using features and geometry. More...

#include <RegistrationVis.h>

Inheritance diagram for rtabmap::RegistrationVis:

Collaboration diagram for rtabmap::RegistrationVis:

Public Member Functions
	RegistrationVis (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
	`child` is owned and deleted in the destructor.

virtual void	parseParameters (const ParametersMap &parameters)
	Parses Vis/ and feature parameters; recreates feature detectors.

float	getInlierDistance () const

int	getIterations () const

int	getMinInliers () const

int	getNNType () const

float	getNNDR () const

int	getEstimationType () const

const Feature2D *	getDetector () const

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.

Protected Member Functions
virtual Transform	computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
	Strategy-specific registration.

virtual bool	isImageRequiredImpl () const

virtual bool	canUseGuessImpl () const

virtual int	getMinVisualCorrespondencesImpl () 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	isScanRequiredImpl () const

virtual bool	isUserDataRequiredImpl () const

virtual float	getMinGeometryCorrespondencesRatioImpl () const

Additional Inherited Members
Public Types inherited from rtabmap::Registration
enum	Type { kTypeUndef = -1 , kTypeVis = 0 , kTypeIcp = 1 , kTypeVisIcp = 2 }
	Registration strategy selected by Reg/Strategy. More...

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.

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

Visual registration between two signatures using features and geometry.

Extracts and matches features (Feature2D), then estimates motion with Vis/EstimationType (3D→3D, 3D→2D PnP, or 2D→2D epipolar). Supports RGB-D (CameraModel + depth), stereo (StereoCameraModel), optical flow, GMS, and optional Python matchers when built with Python support.

Can chain a child registration (e.g. RegistrationIcp in Registration::kTypeVisIcp). Feature-related Vis/ parameters are mapped to Kp/ for Feature2D::create().

See also: Registration; RegistrationInfo

Definition at line 60 of file RegistrationVis.h.

Member Function Documentation

◆ parseParameters()

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

virtual

Parses Vis/ and feature parameters; recreates feature detectors.

Reimplemented from rtabmap::Registration.

◆ getInlierDistance()

float rtabmap::RegistrationVis::getInlierDistance ( ) const

inline

Returns: Vis/InlierDistance (m).

Definition at line 71 of file RegistrationVis.h.

◆ getIterations()

int rtabmap::RegistrationVis::getIterations ( ) const

inline

Returns: Vis/Iterations (RANSAC iterations).

Definition at line 73 of file RegistrationVis.h.

◆ getMinInliers()

int rtabmap::RegistrationVis::getMinInliers ( ) const

inline

Returns: Vis/MinInliers.

Definition at line 75 of file RegistrationVis.h.

◆ getNNType()

int rtabmap::RegistrationVis::getNNType ( ) const

inline

Returns: Vis/CorNNType nearest-neighbor strategy.

Definition at line 77 of file RegistrationVis.h.

◆ getNNDR()

float rtabmap::RegistrationVis::getNNDR ( ) const

inline

Returns: Vis/CorNNDR ratio test threshold.

Definition at line 79 of file RegistrationVis.h.

◆ getEstimationType()

int rtabmap::RegistrationVis::getEstimationType ( ) const

inline

Returns: Vis/EstimationType (0: 3D→3D, 1: PnP, 2: epipolar).

Definition at line 81 of file RegistrationVis.h.

◆ getDetector()

const Feature2D * rtabmap::RegistrationVis::getDetector ( ) const

inline

Returns: Feature detector used for the “from” signature.

Definition at line 84 of file RegistrationVis.h.

◆ computeTransformationImpl()

virtual Transform rtabmap::RegistrationVis::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.

◆ isImageRequiredImpl()

virtual bool rtabmap::RegistrationVis::isImageRequiredImpl ( ) const

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 93 of file RegistrationVis.h.

◆ canUseGuessImpl()

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

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 94 of file RegistrationVis.h.

◆ getMinVisualCorrespondencesImpl()

virtual int rtabmap::RegistrationVis::getMinVisualCorrespondencesImpl ( ) const

inlineprotectedvirtual

Reimplemented from rtabmap::Registration.

Definition at line 95 of file RegistrationVis.h.

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

corelib/include/rtabmap/core/RegistrationVis.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ parseParameters()

◆ getInlierDistance()

◆ getIterations()

◆ getMinInliers()

◆ getNNType()

◆ getNNDR()

◆ getEstimationType()

◆ getDetector()

◆ computeTransformationImpl()

◆ isImageRequiredImpl()

◆ canUseGuessImpl()

◆ getMinVisualCorrespondencesImpl()