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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 " AS IS" 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 REGISTRATIONINFO_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define REGISTRATIONINFO_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 > </ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span > </ div >
< div class = "foldopen" id = "foldopen00047" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html" > 47</ a ></ span >< span class = "keyword" > class </ span >< a class = "code hl_class" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a ></ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span > {</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > < a class = "code hl_class" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > () :</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57" > totalTime</ a > (0.0),</ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456" > inliers</ a > (0),</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8" > inliersRatio</ a > (0),</ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc" > inliersMeanDistance</ a > (0.0f),</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601" > inliersDistribution</ a > (0.0f),</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8" > matches</ a > (0),</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc" > variance</ a > (0.0f),</ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06" > icpInliersRatio</ a > (0),</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b" > icpTranslation</ a > (0.0f),</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4" > icpRotation</ a > (0.0f),</ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de" > icpStructuralComplexity</ a > (0.0f),</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5" > icpStructuralDistribution</ a > (0.0f),</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495" > icpCorrespondences</ a > (0),</ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037" > icpRMS</ a > (0),</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12" > icpIterations</ a > (-1)</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > </ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span > {</ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > }</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > </ div >
< div class = "foldopen" id = "foldopen00071" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277" > 71</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > < a class = "code hl_function" href = "classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277" > copyWithoutData</ a > ()< span class = "keyword" > const</ span ></ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span >< span class = "keyword" > </ span > {</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > < a class = "code hl_class" href = "classrtabmap_1_1RegistrationInfo.html" > RegistrationInfo</ a > output;</ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57" > totalTime</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57" > totalTime</ a > ;</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5" > covariance</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5" > covariance</ a > .clone();</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96" > rejectedMsg</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96" > rejectedMsg</ a > ;</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456" > inliers</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456" > inliers</ a > ;</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26" > inliersPerCam</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26" > inliersPerCam</ a > ;</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc" > inliersMeanDistance</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc" > inliersMeanDistance</ a > ;</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601" > inliersDistribution</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601" > inliersDistribution</ a > ;</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8" > matches</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8" > matches</ a > ;</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82" > matchesPerCam</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82" > matchesPerCam</ a > ;</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc" > variance</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc" > variance</ a > ;</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06" > icpInliersRatio</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06" > icpInliersRatio</ a > ;</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b" > icpTranslation</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b" > icpTranslation</ a > ;</ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4" > icpRotation</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4" > icpRotation</ a > ;</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de" > icpStructuralComplexity</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de" > icpStructuralComplexity</ a > ;</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5" > icpStructuralDistribution</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5" > icpStructuralDistribution</ a > ;</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495" > icpCorrespondences</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495" > icpCorrespondences</ a > ;</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037" > icpRMS</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037" > icpRMS</ a > ;</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span > output.< a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12" > icpIterations</ a > = < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12" > icpIterations</ a > ;</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > < span class = "keywordflow" > return</ span > output;</ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > </ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5" > 95</ a ></ span > cv::Mat < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5" > covariance</ a > ; </ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96" > 96</ a ></ span > std::string < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96" > rejectedMsg</ a > ; </ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57" > 97</ a ></ span > < span class = "keywordtype" > double</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57" > totalTime</ a > ; </ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > < span class = "comment" > // RegistrationVis</ span ></ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456" > 100</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456" > inliers</ a > ; </ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8" > 101</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8" > inliersRatio</ a > ; </ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc" > 102</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc" > inliersMeanDistance</ a > ; </ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601" > 103</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601" > inliersDistribution</ a > ; </ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2" > 104</ a ></ span > std::vector< int> < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2" > inliersIDs</ a > ; </ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8" > 105</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8" > matches</ a > ; </ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc" > 106</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc" > variance</ a > ; </ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc" > 107</ a ></ span > std::vector< int> < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc" > matchesIDs</ a > ; </ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498" > 108</ a ></ span > std::vector< int> < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498" > projectedIDs</ a > ; </ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26" > 109</ a ></ span > std::vector< int> < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26" > inliersPerCam</ a > ; </ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82" > 110</ a ></ span > std::vector< int> < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82" > matchesPerCam</ a > ; </ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "comment" > // RegistrationIcp</ span ></ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06" > 113</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06" > icpInliersRatio</ a > ; </ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b" > 114</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b" > icpTranslation</ a > ; </ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4" > 115</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4" > icpRotation</ a > ; </ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de" > 116</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de" > icpStructuralComplexity</ a > ; </ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5" > 117</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5" > icpStructuralDistribution</ a > ; </ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495" > 118</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495" > icpCorrespondences</ a > ; </ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037" > 119</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037" > icpRMS</ a > ; </ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12" > 120</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_variable" href = "classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12" > icpIterations</ a > ; </ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > </ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > }</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > </ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* REGISTRATIONINFO_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_1RegistrationInfo_html_a0aca4419a027a27d3aa9b65d7019898b" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b" > rtabmap::RegistrationInfo::icpTranslation</ a ></ div >< div class = "ttdeci" > float icpTranslation</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00114" > RegistrationInfo.h:114</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a1537d6d65162a8c84cabcae7fba37c26" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26" > rtabmap::RegistrationInfo::inliersPerCam</ a ></ div >< div class = "ttdeci" > std::vector< int > inliersPerCam</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00109" > RegistrationInfo.h:109</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a1612de115fbd0bfb6dbe8e3aa3528037" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037" > rtabmap::RegistrationInfo::icpRMS</ a ></ div >< div class = "ttdeci" > float icpRMS</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00119" > RegistrationInfo.h:119</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a2cd3a5a3de9c1a07101ef198bf11a495" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495" > rtabmap::RegistrationInfo::icpCorrespondences</ a ></ div >< div class = "ttdeci" > int icpCorrespondences</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00118" > RegistrationInfo.h:118</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a2ffbcc42740094d7cb5e38bcd03006c8" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8" > rtabmap::RegistrationInfo::inliersRatio</ a ></ div >< div class = "ttdeci" > float inliersRatio</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00101" > RegistrationInfo.h:101</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a347f413d8a96dea23c4fdc6af2a1ddb5" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5" > rtabmap::RegistrationInfo::covariance</ a ></ div >< div class = "ttdeci" > cv::Mat covariance</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00095" > RegistrationInfo.h:95</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a3672f48c403ae0d9a309aa7b3a0715b2" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2" > rtabmap::RegistrationInfo::inliersIDs</ a ></ div >< div class = "ttdeci" > std::vector< int > inliersIDs</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00104" > RegistrationInfo.h:104</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a4183e994d882e94bd782678a3ab4cd12" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12" > rtabmap::RegistrationInfo::icpIterations</ a ></ div >< div class = "ttdeci" > int icpIterations</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00120" > RegistrationInfo.h:120</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a4461db9c85505ed07f6d69b5e0329601" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601" > rtabmap::RegistrationInfo::inliersDistribution</ a ></ div >< div class = "ttdeci" > float inliersDistribution</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00103" > RegistrationInfo.h:103</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a52c83dd2b8f59c4ed360dc0eadc5de57" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57" > rtabmap::RegistrationInfo::totalTime</ a ></ div >< div class = "ttdeci" > double totalTime</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00097" > RegistrationInfo.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a5dd0548e61c157636449fb607869f3a8" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8" > rtabmap::RegistrationInfo::matches</ a ></ div >< div class = "ttdeci" > int matches</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00105" > RegistrationInfo.h:105</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a702e62ddd46f3912312be7b55fbba4de" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de" > rtabmap::RegistrationInfo::icpStructuralComplexity</ a ></ div >< div class = "ttdeci" > float icpStructuralComplexity</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00116" > RegistrationInfo.h:116</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a8b152df7c54273e6e33cdfa1744157f5" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5" > rtabmap::RegistrationInfo::icpStructuralDistribution</ a ></ div >< div class = "ttdeci" > float icpStructuralDistribution</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00117" > RegistrationInfo.h:117</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a9487cf937223f68f2658189298d727e4" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4" > rtabmap::RegistrationInfo::icpRotation</ a ></ div >< div class = "ttdeci" > float icpRotation</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00115" > RegistrationInfo.h:115</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a95b6903a7b750f9ada14000dc37800dc" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc" > rtabmap::RegistrationInfo::variance</ a ></ div >< div class = "ttdeci" > float variance</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00106" > RegistrationInfo.h:106</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a9b5a886b0d4a77966820ed5766ff42fc" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc" > rtabmap::RegistrationInfo::inliersMeanDistance</ a ></ div >< div class = "ttdeci" > float inliersMeanDistance</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00102" > RegistrationInfo.h:102</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_a9de693920adf2f33eb283018c1e52456" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456" > rtabmap::RegistrationInfo::inliers</ a ></ div >< div class = "ttdeci" > int inliers</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00100" > RegistrationInfo.h:100</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_aa77a6a2994d004c83ce37906d7adce06" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06" > rtabmap::RegistrationInfo::icpInliersRatio</ a ></ div >< div class = "ttdeci" > float icpInliersRatio</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00113" > RegistrationInfo.h:113</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_aa7a148863f31e6556f483b7d932a40dc" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc" > rtabmap::RegistrationInfo::matchesIDs</ a ></ div >< div class = "ttdeci" > std::vector< int > matchesIDs</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00107" > RegistrationInfo.h:107</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_aa81f7ffab8e77dfc5240fd7e9a587498" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498" > rtabmap::RegistrationInfo::projectedIDs</ a ></ div >< div class = "ttdeci" > std::vector< int > projectedIDs</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00108" > RegistrationInfo.h:108</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_ab79de88af655e987d8232d5b86d7ad82" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82" > rtabmap::RegistrationInfo::matchesPerCam</ a ></ div >< div class = "ttdeci" > std::vector< int > matchesPerCam</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00110" > RegistrationInfo.h:110</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_ae7abf7e34019a0c27b2de8ac5647f277" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277" > rtabmap::RegistrationInfo::copyWithoutData</ a ></ div >< div class = "ttdeci" > RegistrationInfo copyWithoutData() const</ div >< div class = "ttdoc" > Copies scalar metrics and covariance; omits correspondence ID vectors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00071" > RegistrationInfo.h:71</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RegistrationInfo_html_af47520f216ad7259cfcc07254c4daa96" >< div class = "ttname" >< a href = "classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96" > rtabmap::RegistrationInfo::rejectedMsg</ a ></ div >< div class = "ttdeci" > std::string rejectedMsg</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "RegistrationInfo_8h_source.html#l00096" > RegistrationInfo.h:96</ 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#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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