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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef REGISTRATIONINFO_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define REGISTRATIONINFO_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> </div>
<div class="foldopen" id="foldopen00047" data-start="{" data-end="};">
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html"> 47</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>{</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a>() :</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57">totalTime</a>(0.0),</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456">inliers</a>(0),</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8">inliersRatio</a>(0),</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc">inliersMeanDistance</a>(0.0f),</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601">inliersDistribution</a>(0.0f),</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8">matches</a>(0),</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc">variance</a>(0.0f),</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06">icpInliersRatio</a>(0),</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b">icpTranslation</a>(0.0f),</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4">icpRotation</a>(0.0f),</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de">icpStructuralComplexity</a>(0.0f),</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5">icpStructuralDistribution</a>(0.0f),</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495">icpCorrespondences</a>(0),</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037">icpRMS</a>(0),</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12">icpIterations</a>(-1)</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> {</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> }</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="foldopen" id="foldopen00071" data-start="{" data-end="}">
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277"> 71</a></span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> <a class="code hl_function" href="classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277">copyWithoutData</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> output;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57">totalTime</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57">totalTime</a>;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.clone();</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96">rejectedMsg</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96">rejectedMsg</a>;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456">inliers</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456">inliers</a>;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26">inliersPerCam</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26">inliersPerCam</a>;</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc">inliersMeanDistance</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc">inliersMeanDistance</a>;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601">inliersDistribution</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601">inliersDistribution</a>;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8">matches</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8">matches</a>;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82">matchesPerCam</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82">matchesPerCam</a>;</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc">variance</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc">variance</a>;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06">icpInliersRatio</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06">icpInliersRatio</a>;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b">icpTranslation</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b">icpTranslation</a>;</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4">icpRotation</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4">icpRotation</a>;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de">icpStructuralComplexity</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de">icpStructuralComplexity</a>;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5">icpStructuralDistribution</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5">icpStructuralDistribution</a>;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495">icpCorrespondences</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495">icpCorrespondences</a>;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037">icpRMS</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037">icpRMS</a>;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> output.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12">icpIterations</a> = <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12">icpIterations</a>;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordflow">return</span> output;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> }</div>
</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5"> 95</a></span> cv::Mat <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>; </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96"> 96</a></span> std::string <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96">rejectedMsg</a>; </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57"> 97</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57">totalTime</a>; </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="comment">// RegistrationVis</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456"> 100</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456">inliers</a>; </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8"> 101</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8">inliersRatio</a>; </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc"> 102</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc">inliersMeanDistance</a>; </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601"> 103</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601">inliersDistribution</a>; </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2"> 104</a></span> std::vector&lt;int&gt; <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2">inliersIDs</a>; </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8"> 105</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8">matches</a>; </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc"> 106</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc">variance</a>; </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc"> 107</a></span> std::vector&lt;int&gt; <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc">matchesIDs</a>; </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498"> 108</a></span> std::vector&lt;int&gt; <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498">projectedIDs</a>; </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26"> 109</a></span> std::vector&lt;int&gt; <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26">inliersPerCam</a>; </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82"> 110</a></span> std::vector&lt;int&gt; <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82">matchesPerCam</a>; </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="comment">// RegistrationIcp</span></div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06"> 113</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06">icpInliersRatio</a>; </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b"> 114</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b">icpTranslation</a>; </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4"> 115</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4">icpRotation</a>; </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de"> 116</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de">icpStructuralComplexity</a>; </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5"> 117</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5">icpStructuralDistribution</a>; </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495"> 118</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495">icpCorrespondences</a>; </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037"> 119</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037">icpRMS</a>; </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12"> 120</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12">icpIterations</a>; </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span>};</div>
</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span>}</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span><span class="preprocessor">#endif </span><span class="comment">/* REGISTRATIONINFO_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><div class="ttdoc">Statistics and diagnostics returned by Registration.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a0aca4419a027a27d3aa9b65d7019898b"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b">rtabmap::RegistrationInfo::icpTranslation</a></div><div class="ttdeci">float icpTranslation</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00114">RegistrationInfo.h:114</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a1537d6d65162a8c84cabcae7fba37c26"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26">rtabmap::RegistrationInfo::inliersPerCam</a></div><div class="ttdeci">std::vector&lt; int &gt; inliersPerCam</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00109">RegistrationInfo.h:109</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a1612de115fbd0bfb6dbe8e3aa3528037"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037">rtabmap::RegistrationInfo::icpRMS</a></div><div class="ttdeci">float icpRMS</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00119">RegistrationInfo.h:119</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a2cd3a5a3de9c1a07101ef198bf11a495"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495">rtabmap::RegistrationInfo::icpCorrespondences</a></div><div class="ttdeci">int icpCorrespondences</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00118">RegistrationInfo.h:118</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a2ffbcc42740094d7cb5e38bcd03006c8"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8">rtabmap::RegistrationInfo::inliersRatio</a></div><div class="ttdeci">float inliersRatio</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00101">RegistrationInfo.h:101</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a347f413d8a96dea23c4fdc6af2a1ddb5"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">rtabmap::RegistrationInfo::covariance</a></div><div class="ttdeci">cv::Mat covariance</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00095">RegistrationInfo.h:95</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a3672f48c403ae0d9a309aa7b3a0715b2"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2">rtabmap::RegistrationInfo::inliersIDs</a></div><div class="ttdeci">std::vector&lt; int &gt; inliersIDs</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00104">RegistrationInfo.h:104</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a4183e994d882e94bd782678a3ab4cd12"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12">rtabmap::RegistrationInfo::icpIterations</a></div><div class="ttdeci">int icpIterations</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00120">RegistrationInfo.h:120</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a4461db9c85505ed07f6d69b5e0329601"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601">rtabmap::RegistrationInfo::inliersDistribution</a></div><div class="ttdeci">float inliersDistribution</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00103">RegistrationInfo.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a52c83dd2b8f59c4ed360dc0eadc5de57"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57">rtabmap::RegistrationInfo::totalTime</a></div><div class="ttdeci">double totalTime</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00097">RegistrationInfo.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a5dd0548e61c157636449fb607869f3a8"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8">rtabmap::RegistrationInfo::matches</a></div><div class="ttdeci">int matches</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00105">RegistrationInfo.h:105</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a702e62ddd46f3912312be7b55fbba4de"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de">rtabmap::RegistrationInfo::icpStructuralComplexity</a></div><div class="ttdeci">float icpStructuralComplexity</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00116">RegistrationInfo.h:116</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a8b152df7c54273e6e33cdfa1744157f5"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5">rtabmap::RegistrationInfo::icpStructuralDistribution</a></div><div class="ttdeci">float icpStructuralDistribution</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00117">RegistrationInfo.h:117</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a9487cf937223f68f2658189298d727e4"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4">rtabmap::RegistrationInfo::icpRotation</a></div><div class="ttdeci">float icpRotation</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00115">RegistrationInfo.h:115</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a95b6903a7b750f9ada14000dc37800dc"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc">rtabmap::RegistrationInfo::variance</a></div><div class="ttdeci">float variance</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00106">RegistrationInfo.h:106</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a9b5a886b0d4a77966820ed5766ff42fc"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc">rtabmap::RegistrationInfo::inliersMeanDistance</a></div><div class="ttdeci">float inliersMeanDistance</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00102">RegistrationInfo.h:102</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a9de693920adf2f33eb283018c1e52456"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456">rtabmap::RegistrationInfo::inliers</a></div><div class="ttdeci">int inliers</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00100">RegistrationInfo.h:100</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_aa77a6a2994d004c83ce37906d7adce06"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06">rtabmap::RegistrationInfo::icpInliersRatio</a></div><div class="ttdeci">float icpInliersRatio</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00113">RegistrationInfo.h:113</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_aa7a148863f31e6556f483b7d932a40dc"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc">rtabmap::RegistrationInfo::matchesIDs</a></div><div class="ttdeci">std::vector&lt; int &gt; matchesIDs</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00107">RegistrationInfo.h:107</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_aa81f7ffab8e77dfc5240fd7e9a587498"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498">rtabmap::RegistrationInfo::projectedIDs</a></div><div class="ttdeci">std::vector&lt; int &gt; projectedIDs</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00108">RegistrationInfo.h:108</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_ab79de88af655e987d8232d5b86d7ad82"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82">rtabmap::RegistrationInfo::matchesPerCam</a></div><div class="ttdeci">std::vector&lt; int &gt; matchesPerCam</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00110">RegistrationInfo.h:110</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_ae7abf7e34019a0c27b2de8ac5647f277"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277">rtabmap::RegistrationInfo::copyWithoutData</a></div><div class="ttdeci">RegistrationInfo copyWithoutData() const</div><div class="ttdoc">Copies scalar metrics and covariance; omits correspondence ID vectors.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00071">RegistrationInfo.h:71</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_af47520f216ad7259cfcc07254c4daa96"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96">rtabmap::RegistrationInfo::rejectedMsg</a></div><div class="ttdeci">std::string rejectedMsg</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00096">RegistrationInfo.h:96</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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