mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
94 lines
2.9 KiB
C++
94 lines
2.9 KiB
C++
/*
|
|
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
|
All rights reserved.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
* Redistributions of source code must retain the above copyright
|
|
notice, this list of conditions and the following disclaimer.
|
|
* Redistributions in binary form must reproduce the above copyright
|
|
notice, this list of conditions and the following disclaimer in the
|
|
documentation and/or other materials provided with the distribution.
|
|
* Neither the name of the Universite de Sherbrooke nor the
|
|
names of its contributors may be used to endorse or promote products
|
|
derived from this software without specific prior written permission.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
|
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#ifndef REGISTRATIONINFO_H_
|
|
#define REGISTRATIONINFO_H_
|
|
|
|
|
|
namespace rtabmap {
|
|
|
|
class RegistrationInfo
|
|
{
|
|
public:
|
|
RegistrationInfo() :
|
|
totalTime(0.0),
|
|
inliers(0),
|
|
inliersMeanDistance(0.0f),
|
|
inliersDistribution(0.0f),
|
|
matches(0),
|
|
icpInliersRatio(0),
|
|
icpTranslation(0.0f),
|
|
icpRotation(0.0f),
|
|
icpStructuralComplexity(0.0f),
|
|
icpCorrespondences(0)
|
|
|
|
{
|
|
}
|
|
|
|
RegistrationInfo copyWithoutData() const
|
|
{
|
|
RegistrationInfo output;
|
|
output.totalTime = totalTime;
|
|
output.covariance = covariance.clone();
|
|
output.rejectedMsg = rejectedMsg;
|
|
output.inliers = inliers;
|
|
output.inliersMeanDistance = inliersMeanDistance;
|
|
output.inliersDistribution = inliersDistribution;
|
|
output.matches = matches;
|
|
output.icpInliersRatio = icpInliersRatio;
|
|
output.icpTranslation = icpTranslation;
|
|
output.icpRotation = icpRotation;
|
|
output.icpStructuralComplexity = icpStructuralComplexity;
|
|
output.icpCorrespondences = icpCorrespondences;
|
|
return output;
|
|
}
|
|
|
|
cv::Mat covariance;
|
|
std::string rejectedMsg;
|
|
double totalTime;
|
|
|
|
// RegistrationVis
|
|
int inliers;
|
|
float inliersMeanDistance;
|
|
float inliersDistribution;
|
|
std::vector<int> inliersIDs;
|
|
int matches;
|
|
std::vector<int> matchesIDs;
|
|
std::vector<int> projectedIDs; // "From" IDs
|
|
|
|
// RegistrationIcp
|
|
float icpInliersRatio;
|
|
float icpTranslation;
|
|
float icpRotation;
|
|
float icpStructuralComplexity;
|
|
int icpCorrespondences;
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* REGISTRATIONINFO_H_ */
|