<ahref="#pub-methods">Public Member Functions</a>|
<ahref="#pub-attribs">Public Attributes</a>|
<ahref="classrtabmap_1_1RegistrationInfo-members.html">List of all members</a></div>
<divclass="headertitle"><divclass="title">rtabmap::RegistrationInfo Class Reference</div></div>
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<p><aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> and diagnostics returned by <aclass="el"href="classrtabmap_1_1Registration.html">Registration</a>.
<trclass="memdesc:ae7abf7e34019a0c27b2de8ac5647f277"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Copies scalar metrics and <aclass="el"href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>; omits correspondence ID vectors. <br/></td></tr>
<trclass="memitem:a3672f48c403ae0d9a309aa7b3a0715b2"id="r_a3672f48c403ae0d9a309aa7b3a0715b2"><tdclass="memItemLeft"align="right"valign="top">std::vector< int > </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2">inliersIDs</a></td></tr>
<trclass="memitem:aa7a148863f31e6556f483b7d932a40dc"id="r_aa7a148863f31e6556f483b7d932a40dc"><tdclass="memItemLeft"align="right"valign="top">std::vector< int > </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc">matchesIDs</a></td></tr>
<trclass="memitem:aa81f7ffab8e77dfc5240fd7e9a587498"id="r_aa81f7ffab8e77dfc5240fd7e9a587498"><tdclass="memItemLeft"align="right"valign="top">std::vector< int > </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498">projectedIDs</a></td></tr>
<trclass="memitem:a1537d6d65162a8c84cabcae7fba37c26"id="r_a1537d6d65162a8c84cabcae7fba37c26"><tdclass="memItemLeft"align="right"valign="top">std::vector< int > </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26">inliersPerCam</a></td></tr>
<trclass="memitem:ab79de88af655e987d8232d5b86d7ad82"id="r_ab79de88af655e987d8232d5b86d7ad82"><tdclass="memItemLeft"align="right"valign="top">std::vector< int > </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82">matchesPerCam</a></td></tr>
<divclass="textblock"><p><aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> and diagnostics returned by <aclass="el"href="classrtabmap_1_1Registration.html">Registration</a>. </p>
<p>Filled by <aclass="el"href="classrtabmap_1_1RegistrationVis.html">RegistrationVis</a> and/or <aclass="el"href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a> during <aclass="el"href="classrtabmap_1_1Registration.html#aa6b81a6f4137138a1b49510cc3f97679">Registration::computeTransformation()</a>. The 6×6 <aclass="el"href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> matrix is clamped to <aclass="el"href="classrtabmap_1_1Registration.html#a7c8c2d7a65357ef9f5d60ce3f763f4b3">Registration::COVARIANCE_LINEAR_EPSILON</a> and <aclass="el"href="classrtabmap_1_1Registration.html#ae40b7ab65642aac9f21f44887b23b97d">Registration::COVARIANCE_ANGULAR_EPSILON</a> on the diagonal when empty or too small.</p>
<p>Visual fields are set by <aclass="el"href="classrtabmap_1_1RegistrationVis.html">RegistrationVis</a>; ICP fields by <aclass="el"href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>. In a combined Vis+ICP pipeline, both sets may be populated in the same object. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00047">47</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
</div><h2class="groupheader">Constructor & Destructor Documentation</h2>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00050">50</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
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<h2class="groupheader">Member Function Documentation</h2>
<p>Copies scalar metrics and <aclass="el"href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>; omits correspondence ID vectors. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00071">71</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
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<h2class="groupheader">Member Data Documentation</h2>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00095">95</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Reason the registration was rejected, if any. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00096">96</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00097">97</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00100">100</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00101">101</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Mean reprojection or descriptor distance of inliers. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00102">102</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00103">103</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00104">104</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Total visual matches before outlier rejection. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00105">105</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Estimated variance of the visual constraint. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00106">106</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00107">107</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Source ("from") feature IDs used in projection. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00108">108</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00109">109</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00110">110</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00113">113</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Translation component of the ICP correction (m). </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00114">114</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Rotation component of the ICP correction (rad). </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00115">115</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Structural complexity of the scan overlap. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00116">116</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Distribution of structural features in the overlap. </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00117">117</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00118">118</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Root-mean-square error of ICP correspondences (m). </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00119">119</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
<p>Number of ICP iterations actually performed (-1 if unavailable from backend). </p>
<pclass="definition">Definition at line <aclass="el"href="RegistrationInfo_8h_source.html#l00120">120</a> of file <aclass="el"href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
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