Statistics and diagnostics returned by Registration. More...

#include <RegistrationInfo.h>

Public Member Functions
RegistrationInfo	copyWithoutData () const
	Copies scalar metrics and covariance; omits correspondence ID vectors.

Public Attributes
cv::Mat	covariance

std::string	rejectedMsg

double	totalTime

int	inliers

float	inliersRatio

float	inliersMeanDistance

float	inliersDistribution

std::vector< int >	inliersIDs

int	matches

float	variance

std::vector< int >	matchesIDs

std::vector< int >	projectedIDs

std::vector< int >	inliersPerCam

std::vector< int >	matchesPerCam

float	icpInliersRatio

float	icpTranslation

float	icpRotation

float	icpStructuralComplexity

float	icpStructuralDistribution

int	icpCorrespondences

float	icpRMS

int	icpIterations

Detailed Description

Statistics and diagnostics returned by Registration.

Filled by RegistrationVis and/or RegistrationIcp during Registration::computeTransformation(). The 6×6 covariance matrix is clamped to Registration::COVARIANCE_LINEAR_EPSILON and Registration::COVARIANCE_ANGULAR_EPSILON on the diagonal when empty or too small.

Visual fields are set by RegistrationVis; ICP fields by RegistrationIcp. In a combined Vis+ICP pipeline, both sets may be populated in the same object.

Definition at line 47 of file RegistrationInfo.h.

Constructor & Destructor Documentation

◆ RegistrationInfo()

rtabmap::RegistrationInfo::RegistrationInfo ( )

inline

Definition at line 50 of file RegistrationInfo.h.

Member Function Documentation

◆ copyWithoutData()

RegistrationInfo rtabmap::RegistrationInfo::copyWithoutData ( ) const

inline

Copies scalar metrics and covariance; omits correspondence ID vectors.

Definition at line 71 of file RegistrationInfo.h.

Member Data Documentation

◆ covariance

cv::Mat rtabmap::RegistrationInfo::covariance

6×6 registration uncertainty (CV_64FC1).

Definition at line 95 of file RegistrationInfo.h.

◆ rejectedMsg

std::string rtabmap::RegistrationInfo::rejectedMsg

Reason the registration was rejected, if any.

Definition at line 96 of file RegistrationInfo.h.

◆ totalTime

double rtabmap::RegistrationInfo::totalTime

Total registration time (seconds).

Definition at line 97 of file RegistrationInfo.h.

◆ inliers

int rtabmap::RegistrationInfo::inliers

Number of visual inliers.

Definition at line 100 of file RegistrationInfo.h.

◆ inliersRatio

float rtabmap::RegistrationInfo::inliersRatio

Ratio of inliers to matches.

Definition at line 101 of file RegistrationInfo.h.

◆ inliersMeanDistance

float rtabmap::RegistrationInfo::inliersMeanDistance

Mean reprojection or descriptor distance of inliers.

Definition at line 102 of file RegistrationInfo.h.

◆ inliersDistribution

float rtabmap::RegistrationInfo::inliersDistribution

Spatial spread of inliers in the image.

Definition at line 103 of file RegistrationInfo.h.

◆ inliersIDs

std::vector<int> rtabmap::RegistrationInfo::inliersIDs

Indices of inlier keypoints.

Definition at line 104 of file RegistrationInfo.h.

◆ matches

int rtabmap::RegistrationInfo::matches

Total visual matches before outlier rejection.

Definition at line 105 of file RegistrationInfo.h.

◆ variance

float rtabmap::RegistrationInfo::variance

Estimated variance of the visual constraint.

Definition at line 106 of file RegistrationInfo.h.

◆ matchesIDs

std::vector<int> rtabmap::RegistrationInfo::matchesIDs

Indices of all matches.

Definition at line 107 of file RegistrationInfo.h.

◆ projectedIDs

std::vector<int> rtabmap::RegistrationInfo::projectedIDs

Source ("from") feature IDs used in projection.

Definition at line 108 of file RegistrationInfo.h.

◆ inliersPerCam

std::vector<int> rtabmap::RegistrationInfo::inliersPerCam

Inlier count per camera (multi-camera).

Definition at line 109 of file RegistrationInfo.h.

◆ matchesPerCam

std::vector<int> rtabmap::RegistrationInfo::matchesPerCam

Match count per camera (multi-camera).

Definition at line 110 of file RegistrationInfo.h.

◆ icpInliersRatio

float rtabmap::RegistrationInfo::icpInliersRatio

Ratio of ICP inlier correspondences.

Definition at line 113 of file RegistrationInfo.h.

◆ icpTranslation

float rtabmap::RegistrationInfo::icpTranslation

Translation component of the ICP correction (m).

Definition at line 114 of file RegistrationInfo.h.

◆ icpRotation

float rtabmap::RegistrationInfo::icpRotation

Rotation component of the ICP correction (rad).

Definition at line 115 of file RegistrationInfo.h.

◆ icpStructuralComplexity

float rtabmap::RegistrationInfo::icpStructuralComplexity

Structural complexity of the scan overlap.

Definition at line 116 of file RegistrationInfo.h.

◆ icpStructuralDistribution

float rtabmap::RegistrationInfo::icpStructuralDistribution

Distribution of structural features in the overlap.

Definition at line 117 of file RegistrationInfo.h.

◆ icpCorrespondences

int rtabmap::RegistrationInfo::icpCorrespondences

Number of ICP point correspondences.

Definition at line 118 of file RegistrationInfo.h.

◆ icpRMS

float rtabmap::RegistrationInfo::icpRMS

Root-mean-square error of ICP correspondences (m).

Definition at line 119 of file RegistrationInfo.h.

◆ icpIterations

int rtabmap::RegistrationInfo::icpIterations

Number of ICP iterations actually performed (-1 if unavailable from backend).

Definition at line 120 of file RegistrationInfo.h.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/RegistrationInfo.h

Public Member Functions

Public Attributes