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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>.
<a href="classrtabmap_1_1RegistrationInfo.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a>&gt;</code></p>
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<tr class="memdesc:ae7abf7e34019a0c27b2de8ac5647f277"><td class="mdescLeft">&#160;</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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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<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>
<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>
<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>
<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>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="aec76f353c34d939ca5912ef0118c7192" name="aec76f353c34d939ca5912ef0118c7192"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aec76f353c34d939ca5912ef0118c7192">&#9670;&#160;</a></span>RegistrationInfo()</h2>
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<td class="memname">rtabmap::RegistrationInfo::RegistrationInfo </td>
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<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>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ae7abf7e34019a0c27b2de8ac5647f277">&#9670;&#160;</a></span>copyWithoutData()</h2>
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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>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a347f413d8a96dea23c4fdc6af2a1ddb5">&#9670;&#160;</a></span>covariance</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#af47520f216ad7259cfcc07254c4daa96">&#9670;&#160;</a></span>rejectedMsg</h2>
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<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>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a9de693920adf2f33eb283018c1e52456">&#9670;&#160;</a></span>inliers</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a2ffbcc42740094d7cb5e38bcd03006c8">&#9670;&#160;</a></span>inliersRatio</h2>
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<td class="memname">float rtabmap::RegistrationInfo::inliersRatio</td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a9b5a886b0d4a77966820ed5766ff42fc">&#9670;&#160;</a></span>inliersMeanDistance</h2>
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<td class="memname">float rtabmap::RegistrationInfo::inliersMeanDistance</td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a4461db9c85505ed07f6d69b5e0329601">&#9670;&#160;</a></span>inliersDistribution</h2>
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<td class="memname">float rtabmap::RegistrationInfo::inliersDistribution</td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a3672f48c403ae0d9a309aa7b3a0715b2">&#9670;&#160;</a></span>inliersIDs</h2>
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<td class="memname">std::vector&lt;int&gt; rtabmap::RegistrationInfo::inliersIDs</td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a5dd0548e61c157636449fb607869f3a8">&#9670;&#160;</a></span>matches</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a95b6903a7b750f9ada14000dc37800dc">&#9670;&#160;</a></span>variance</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#aa7a148863f31e6556f483b7d932a40dc">&#9670;&#160;</a></span>matchesIDs</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#aa81f7ffab8e77dfc5240fd7e9a587498">&#9670;&#160;</a></span>projectedIDs</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a1537d6d65162a8c84cabcae7fba37c26">&#9670;&#160;</a></span>inliersPerCam</h2>
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<td class="memname">std::vector&lt;int&gt; rtabmap::RegistrationInfo::inliersPerCam</td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#ab79de88af655e987d8232d5b86d7ad82">&#9670;&#160;</a></span>matchesPerCam</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#aa77a6a2994d004c83ce37906d7adce06">&#9670;&#160;</a></span>icpInliersRatio</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a0aca4419a027a27d3aa9b65d7019898b">&#9670;&#160;</a></span>icpTranslation</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a9487cf937223f68f2658189298d727e4">&#9670;&#160;</a></span>icpRotation</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a702e62ddd46f3912312be7b55fbba4de">&#9670;&#160;</a></span>icpStructuralComplexity</h2>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a8b152df7c54273e6e33cdfa1744157f5">&#9670;&#160;</a></span>icpStructuralDistribution</h2>
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<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">&#9670;&#160;</a></span>icpCorrespondences</h2>
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<p>Number of ICP point correspondences. </p>
<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">&#9670;&#160;</a></span>icpRMS</h2>
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<p>Root-mean-square error of ICP correspondences (m). </p>
<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">&#9670;&#160;</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>
<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>
<li>corelib/include/rtabmap/core/<a class="el" href="RegistrationInfo_8h_source.html">RegistrationInfo.h</a></li>
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