00001 /* 00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without 00006 modification, are permitted provided that the following conditions are met: 00007 * Redistributions of source code must retain the above copyright 00008 notice, this list of conditions and the following disclaimer. 00009 * Redistributions in binary form must reproduce the above copyright 00010 notice, this list of conditions and the following disclaimer in the 00011 documentation and/or other materials provided with the distribution. 00012 * Neither the name of the Universite de Sherbrooke nor the 00013 names of its contributors may be used to endorse or promote products 00014 derived from this software without specific prior written permission. 00015 00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY 00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef REGISTRATIONINFO_H_ 00029 #define REGISTRATIONINFO_H_ 00030 00031 00032 namespace rtabmap { 00033 00034 class RegistrationInfo 00035 { 00036 public: 00037 RegistrationInfo() : 00038 variance(0), 00039 inliers(0), 00040 matches(0), 00041 icpInliersRatio(0), 00042 icpTranslation(0.0f), 00043 icpRotation(0.0f) 00044 { 00045 } 00046 00047 float variance; 00048 std::string rejectedMsg; 00049 00050 // RegistrationVis 00051 int inliers; 00052 std::vector<int> inliersIDs; 00053 int matches; 00054 std::vector<int> matchesIDs; 00055 00056 // RegistrationIcp 00057 float icpInliersRatio; 00058 float icpTranslation; 00059 float icpRotation; 00060 }; 00061 00062 } 00063 00064 #endif /* REGISTRATIONINFO_H_ */