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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="headertitle"><div class="title">rtabmap::RegistrationInfo Class Reference</div></div>
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<p><a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> and diagnostics returned by <a class="el" href="classrtabmap_1_1Registration.html">Registration</a>.
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<a href="classrtabmap_1_1RegistrationInfo.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>></code></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:ae7abf7e34019a0c27b2de8ac5647f277" id="r_ae7abf7e34019a0c27b2de8ac5647f277"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277">copyWithoutData</a> () const</td></tr>
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<tr class="memdesc:ae7abf7e34019a0c27b2de8ac5647f277"><td class="mdescLeft"> </td><td class="mdescRight">Copies scalar metrics and <a class="el" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>; omits correspondence ID vectors. <br /></td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:a347f413d8a96dea23c4fdc6af2a1ddb5" id="r_a347f413d8a96dea23c4fdc6af2a1ddb5"><td class="memItemLeft" align="right" valign="top">cv::Mat </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a></td></tr>
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<tr class="separator:a347f413d8a96dea23c4fdc6af2a1ddb5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af47520f216ad7259cfcc07254c4daa96" id="r_af47520f216ad7259cfcc07254c4daa96"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96">rejectedMsg</a></td></tr>
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<tr class="separator:af47520f216ad7259cfcc07254c4daa96"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a52c83dd2b8f59c4ed360dc0eadc5de57" id="r_a52c83dd2b8f59c4ed360dc0eadc5de57"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57">totalTime</a></td></tr>
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<tr class="separator:a52c83dd2b8f59c4ed360dc0eadc5de57"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9de693920adf2f33eb283018c1e52456" id="r_a9de693920adf2f33eb283018c1e52456"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456">inliers</a></td></tr>
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<tr class="separator:a9de693920adf2f33eb283018c1e52456"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2ffbcc42740094d7cb5e38bcd03006c8" id="r_a2ffbcc42740094d7cb5e38bcd03006c8"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8">inliersRatio</a></td></tr>
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<tr class="separator:a2ffbcc42740094d7cb5e38bcd03006c8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9b5a886b0d4a77966820ed5766ff42fc" id="r_a9b5a886b0d4a77966820ed5766ff42fc"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc">inliersMeanDistance</a></td></tr>
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<tr class="separator:a9b5a886b0d4a77966820ed5766ff42fc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4461db9c85505ed07f6d69b5e0329601" id="r_a4461db9c85505ed07f6d69b5e0329601"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601">inliersDistribution</a></td></tr>
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<tr class="separator:a4461db9c85505ed07f6d69b5e0329601"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3672f48c403ae0d9a309aa7b3a0715b2" id="r_a3672f48c403ae0d9a309aa7b3a0715b2"><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2">inliersIDs</a></td></tr>
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<tr class="separator:a3672f48c403ae0d9a309aa7b3a0715b2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5dd0548e61c157636449fb607869f3a8" id="r_a5dd0548e61c157636449fb607869f3a8"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8">matches</a></td></tr>
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<tr class="separator:a5dd0548e61c157636449fb607869f3a8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a95b6903a7b750f9ada14000dc37800dc" id="r_a95b6903a7b750f9ada14000dc37800dc"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc">variance</a></td></tr>
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<tr class="separator:a95b6903a7b750f9ada14000dc37800dc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa7a148863f31e6556f483b7d932a40dc" id="r_aa7a148863f31e6556f483b7d932a40dc"><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc">matchesIDs</a></td></tr>
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<tr class="separator:aa7a148863f31e6556f483b7d932a40dc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa81f7ffab8e77dfc5240fd7e9a587498" id="r_aa81f7ffab8e77dfc5240fd7e9a587498"><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498">projectedIDs</a></td></tr>
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<tr class="separator:aa81f7ffab8e77dfc5240fd7e9a587498"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1537d6d65162a8c84cabcae7fba37c26" id="r_a1537d6d65162a8c84cabcae7fba37c26"><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26">inliersPerCam</a></td></tr>
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<tr class="separator:a1537d6d65162a8c84cabcae7fba37c26"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab79de88af655e987d8232d5b86d7ad82" id="r_ab79de88af655e987d8232d5b86d7ad82"><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82">matchesPerCam</a></td></tr>
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<tr class="separator:ab79de88af655e987d8232d5b86d7ad82"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa77a6a2994d004c83ce37906d7adce06" id="r_aa77a6a2994d004c83ce37906d7adce06"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06">icpInliersRatio</a></td></tr>
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<tr class="separator:aa77a6a2994d004c83ce37906d7adce06"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0aca4419a027a27d3aa9b65d7019898b" id="r_a0aca4419a027a27d3aa9b65d7019898b"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b">icpTranslation</a></td></tr>
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<tr class="separator:a0aca4419a027a27d3aa9b65d7019898b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9487cf937223f68f2658189298d727e4" id="r_a9487cf937223f68f2658189298d727e4"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4">icpRotation</a></td></tr>
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<tr class="separator:a9487cf937223f68f2658189298d727e4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a702e62ddd46f3912312be7b55fbba4de" id="r_a702e62ddd46f3912312be7b55fbba4de"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de">icpStructuralComplexity</a></td></tr>
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<tr class="separator:a702e62ddd46f3912312be7b55fbba4de"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8b152df7c54273e6e33cdfa1744157f5" id="r_a8b152df7c54273e6e33cdfa1744157f5"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5">icpStructuralDistribution</a></td></tr>
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<tr class="separator:a8b152df7c54273e6e33cdfa1744157f5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2cd3a5a3de9c1a07101ef198bf11a495" id="r_a2cd3a5a3de9c1a07101ef198bf11a495"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495">icpCorrespondences</a></td></tr>
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<tr class="separator:a2cd3a5a3de9c1a07101ef198bf11a495"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1612de115fbd0bfb6dbe8e3aa3528037" id="r_a1612de115fbd0bfb6dbe8e3aa3528037"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037">icpRMS</a></td></tr>
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<tr class="separator:a1612de115fbd0bfb6dbe8e3aa3528037"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4183e994d882e94bd782678a3ab4cd12" id="r_a4183e994d882e94bd782678a3ab4cd12"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12">icpIterations</a></td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p><a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> and diagnostics returned by <a class="el" href="classrtabmap_1_1Registration.html">Registration</a>. </p>
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<p>Filled by <a class="el" href="classrtabmap_1_1RegistrationVis.html">RegistrationVis</a> and/or <a class="el" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a> during <a class="el" href="classrtabmap_1_1Registration.html#aa6b81a6f4137138a1b49510cc3f97679">Registration::computeTransformation()</a>. The 6×6 <a class="el" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> matrix is clamped to <a class="el" href="classrtabmap_1_1Registration.html#a7c8c2d7a65357ef9f5d60ce3f763f4b3">Registration::COVARIANCE_LINEAR_EPSILON</a> and <a class="el" href="classrtabmap_1_1Registration.html#ae40b7ab65642aac9f21f44887b23b97d">Registration::COVARIANCE_ANGULAR_EPSILON</a> on the diagonal when empty or too small.</p>
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<p>Visual fields are set by <a class="el" href="classrtabmap_1_1RegistrationVis.html">RegistrationVis</a>; ICP fields by <a class="el" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a>. In a combined Vis+ICP pipeline, both sets may be populated in the same object. </p>
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<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00047">47</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="aec76f353c34d939ca5912ef0118c7192" name="aec76f353c34d939ca5912ef0118c7192"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aec76f353c34d939ca5912ef0118c7192">◆ </a></span>RegistrationInfo()</h2>
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<td class="memname">rtabmap::RegistrationInfo::RegistrationInfo </td>
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<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td></td>
|
||
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|
||
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|
||
</td>
|
||
<td class="mlabels-right">
|
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00050">50</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<h2 class="groupheader">Member Function Documentation</h2>
|
||
<a id="ae7abf7e34019a0c27b2de8ac5647f277" name="ae7abf7e34019a0c27b2de8ac5647f277"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ae7abf7e34019a0c27b2de8ac5647f277">◆ </a></span>copyWithoutData()</h2>
|
||
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||
<div class="memitem">
|
||
<div class="memproto">
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||
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||
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|
||
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|
||
<td class="memname"><a class="el" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> rtabmap::RegistrationInfo::copyWithoutData </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
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|
||
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|
||
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|
||
|
||
<p>Copies scalar metrics and <a class="el" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>; omits correspondence ID vectors. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00071">71</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<h2 class="groupheader">Member Data Documentation</h2>
|
||
<a id="a347f413d8a96dea23c4fdc6af2a1ddb5" name="a347f413d8a96dea23c4fdc6af2a1ddb5"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a347f413d8a96dea23c4fdc6af2a1ddb5">◆ </a></span>covariance</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
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||
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|
||
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|
||
<td class="memname">cv::Mat rtabmap::RegistrationInfo::covariance</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>6×6 registration uncertainty (CV_64FC1). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00095">95</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="af47520f216ad7259cfcc07254c4daa96" name="af47520f216ad7259cfcc07254c4daa96"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#af47520f216ad7259cfcc07254c4daa96">◆ </a></span>rejectedMsg</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
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|
||
<td class="memname">std::string rtabmap::RegistrationInfo::rejectedMsg</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Reason the registration was rejected, if any. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00096">96</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a52c83dd2b8f59c4ed360dc0eadc5de57" name="a52c83dd2b8f59c4ed360dc0eadc5de57"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a52c83dd2b8f59c4ed360dc0eadc5de57">◆ </a></span>totalTime</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
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|
||
<td class="memname">double rtabmap::RegistrationInfo::totalTime</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Total registration time (seconds). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00097">97</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a9de693920adf2f33eb283018c1e52456" name="a9de693920adf2f33eb283018c1e52456"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a9de693920adf2f33eb283018c1e52456">◆ </a></span>inliers</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
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|
||
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|
||
<td class="memname">int rtabmap::RegistrationInfo::inliers</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Number of visual inliers. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00100">100</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a2ffbcc42740094d7cb5e38bcd03006c8" name="a2ffbcc42740094d7cb5e38bcd03006c8"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a2ffbcc42740094d7cb5e38bcd03006c8">◆ </a></span>inliersRatio</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
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|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::inliersRatio</td>
|
||
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|
||
</table>
|
||
</div><div class="memdoc">
|
||
<p>Ratio of inliers to matches. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00101">101</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a9b5a886b0d4a77966820ed5766ff42fc" name="a9b5a886b0d4a77966820ed5766ff42fc"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a9b5a886b0d4a77966820ed5766ff42fc">◆ </a></span>inliersMeanDistance</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::inliersMeanDistance</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Mean reprojection or descriptor distance of inliers. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00102">102</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a4461db9c85505ed07f6d69b5e0329601" name="a4461db9c85505ed07f6d69b5e0329601"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a4461db9c85505ed07f6d69b5e0329601">◆ </a></span>inliersDistribution</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">float rtabmap::RegistrationInfo::inliersDistribution</td>
|
||
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|
||
</table>
|
||
</div><div class="memdoc">
|
||
<p>Spatial spread of inliers in the image. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00103">103</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a3672f48c403ae0d9a309aa7b3a0715b2" name="a3672f48c403ae0d9a309aa7b3a0715b2"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a3672f48c403ae0d9a309aa7b3a0715b2">◆ </a></span>inliersIDs</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
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|
||
<td class="memname">std::vector<int> rtabmap::RegistrationInfo::inliersIDs</td>
|
||
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|
||
</table>
|
||
</div><div class="memdoc">
|
||
<p>Indices of inlier keypoints. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00104">104</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a5dd0548e61c157636449fb607869f3a8" name="a5dd0548e61c157636449fb607869f3a8"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a5dd0548e61c157636449fb607869f3a8">◆ </a></span>matches</h2>
|
||
|
||
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|
||
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|
||
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|
||
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|
||
<td class="memname">int rtabmap::RegistrationInfo::matches</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Total visual matches before outlier rejection. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00105">105</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a95b6903a7b750f9ada14000dc37800dc" name="a95b6903a7b750f9ada14000dc37800dc"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a95b6903a7b750f9ada14000dc37800dc">◆ </a></span>variance</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
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|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::variance</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Estimated variance of the visual constraint. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00106">106</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="aa7a148863f31e6556f483b7d932a40dc" name="aa7a148863f31e6556f483b7d932a40dc"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#aa7a148863f31e6556f483b7d932a40dc">◆ </a></span>matchesIDs</h2>
|
||
|
||
<div class="memitem">
|
||
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|
||
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|
||
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|
||
<td class="memname">std::vector<int> rtabmap::RegistrationInfo::matchesIDs</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Indices of all matches. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00107">107</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="aa81f7ffab8e77dfc5240fd7e9a587498" name="aa81f7ffab8e77dfc5240fd7e9a587498"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#aa81f7ffab8e77dfc5240fd7e9a587498">◆ </a></span>projectedIDs</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
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|
||
<td class="memname">std::vector<int> rtabmap::RegistrationInfo::projectedIDs</td>
|
||
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|
||
</table>
|
||
</div><div class="memdoc">
|
||
<p>Source ("from") feature IDs used in projection. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00108">108</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a1537d6d65162a8c84cabcae7fba37c26" name="a1537d6d65162a8c84cabcae7fba37c26"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a1537d6d65162a8c84cabcae7fba37c26">◆ </a></span>inliersPerCam</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
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|
||
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|
||
<td class="memname">std::vector<int> rtabmap::RegistrationInfo::inliersPerCam</td>
|
||
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|
||
</table>
|
||
</div><div class="memdoc">
|
||
<p>Inlier count per camera (multi-camera). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00109">109</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ab79de88af655e987d8232d5b86d7ad82" name="ab79de88af655e987d8232d5b86d7ad82"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ab79de88af655e987d8232d5b86d7ad82">◆ </a></span>matchesPerCam</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
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|
||
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|
||
<td class="memname">std::vector<int> rtabmap::RegistrationInfo::matchesPerCam</td>
|
||
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|
||
</table>
|
||
</div><div class="memdoc">
|
||
<p>Match count per camera (multi-camera). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00110">110</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="aa77a6a2994d004c83ce37906d7adce06" name="aa77a6a2994d004c83ce37906d7adce06"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#aa77a6a2994d004c83ce37906d7adce06">◆ </a></span>icpInliersRatio</h2>
|
||
|
||
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|
||
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|
||
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|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::icpInliersRatio</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Ratio of ICP inlier correspondences. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00113">113</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a0aca4419a027a27d3aa9b65d7019898b" name="a0aca4419a027a27d3aa9b65d7019898b"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a0aca4419a027a27d3aa9b65d7019898b">◆ </a></span>icpTranslation</h2>
|
||
|
||
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|
||
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|
||
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|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::icpTranslation</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Translation component of the ICP correction (m). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00114">114</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a9487cf937223f68f2658189298d727e4" name="a9487cf937223f68f2658189298d727e4"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a9487cf937223f68f2658189298d727e4">◆ </a></span>icpRotation</h2>
|
||
|
||
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|
||
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|
||
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|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::icpRotation</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Rotation component of the ICP correction (rad). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00115">115</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a702e62ddd46f3912312be7b55fbba4de" name="a702e62ddd46f3912312be7b55fbba4de"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a702e62ddd46f3912312be7b55fbba4de">◆ </a></span>icpStructuralComplexity</h2>
|
||
|
||
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|
||
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|
||
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|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::icpStructuralComplexity</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Structural complexity of the scan overlap. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00116">116</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a8b152df7c54273e6e33cdfa1744157f5" name="a8b152df7c54273e6e33cdfa1744157f5"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a8b152df7c54273e6e33cdfa1744157f5">◆ </a></span>icpStructuralDistribution</h2>
|
||
|
||
<div class="memitem">
|
||
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|
||
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|
||
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|
||
<td class="memname">float rtabmap::RegistrationInfo::icpStructuralDistribution</td>
|
||
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|
||
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|
||
</div><div class="memdoc">
|
||
<p>Distribution of structural features in the overlap. </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00117">117</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
|
||
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<h2 class="memtitle"><span class="permalink"><a href="#a2cd3a5a3de9c1a07101ef198bf11a495">◆ </a></span>icpCorrespondences</h2>
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<td class="memname">int rtabmap::RegistrationInfo::icpCorrespondences</td>
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<p>Number of ICP point correspondences. </p>
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<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00118">118</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1612de115fbd0bfb6dbe8e3aa3528037">◆ </a></span>icpRMS</h2>
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<td class="memname">float rtabmap::RegistrationInfo::icpRMS</td>
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<p>Root-mean-square error of ICP correspondences (m). </p>
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<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00119">119</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4183e994d882e94bd782678a3ab4cd12">◆ </a></span>icpIterations</h2>
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<td class="memname">int rtabmap::RegistrationInfo::icpIterations</td>
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<p>Number of ICP iterations actually performed (-1 if unavailable from backend). </p>
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<p class="definition">Definition at line <a class="el" href="RegistrationInfo_8h_source.html#l00120">120</a> of file <a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a></li>
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