diff --git a/corelib/include/rtabmap/core/RegistrationInfo.h b/corelib/include/rtabmap/core/RegistrationInfo.h
index 57390e24..b1e68e96 100644
--- a/corelib/include/rtabmap/core/RegistrationInfo.h
+++ b/corelib/include/rtabmap/core/RegistrationInfo.h
@@ -18,7 +18,9 @@ public:
 		variance(0),
 		inliers(0),
 		matches(0),
-		icpInliersRatio(0)
+		icpInliersRatio(0),
+		icpTranslation(0.0f),
+		icpRotation(0.0f)
 	{
 	}
 
@@ -33,6 +35,8 @@ public:
 
 	// RegistrationIcp
 	float icpInliersRatio;
+	float icpTranslation;
+	float icpRotation;
 };
 
 }
diff --git a/corelib/src/RegistrationIcp.cpp b/corelib/src/RegistrationIcp.cpp
index 5cea01f0..c8df5690 100644
--- a/corelib/src/RegistrationIcp.cpp
+++ b/corelib/src/RegistrationIcp.cpp
@@ -313,15 +313,17 @@ Transform RegistrationIcp::computeTransformationImpl(
 				float ix,iy,iz, iroll,ipitch,iyaw;
 				Transform icpInTargetReferential = guess.inverse() * icpT.inverse() * guess; // actual local ICP refinement
 				icpInTargetReferential.getTranslationAndEulerAngles(ix,iy,iz,iroll,ipitch,iyaw);
+				info.icpTranslation = uMax3(fabs(ix), fabs(iy), fabs(iz));
+				info.icpRotation = uMax3(fabs(iroll), fabs(ipitch), fabs(iyaw));
 				if((_maxTranslation>0.0f &&
-					uMax3(fabs(ix), fabs(iy), fabs(iz)) > _maxTranslation)
+						info.icpTranslation > _maxTranslation)
 				   ||
 				   (_maxRotation>0.0f &&
-					uMax3(fabs(iroll), fabs(ipitch), fabs(iyaw)) > _maxRotation))
+						info.icpRotation > _maxRotation))
 				{
 					msg = uFormat("Cannot compute transform (ICP correction too large -> %f m %f rad, limits=%f m, %f rad)",
-							uMax3(fabs(ix), fabs(iy), fabs(iz)),
-							uMax3(fabs(iroll), fabs(ipitch), fabs(iyaw)),
+							info.icpTranslation,
+							info.icpRotation,
 							_maxTranslation,
 							_maxRotation);
 					UINFO(msg.c_str());