Point Cloud Library (PCL) 1.12.1
matching_candidate.h
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37
38#pragma once
39
40#include <pcl/common/common.h>
41#include <pcl/registration/registration.h>
42#include <pcl/memory.h>
43#include <pcl/pcl_macros.h>
44
45namespace pcl {
46namespace registration {
47/** \brief Container for matching candidate consisting of
48 *
49 * * fitness score value as a result of the matching algorithm
50 * * correspondences between source and target data set
51 * * transformation matrix calculated based on the correspondences
52 *
53 */
55 /** \brief Constructor. */
57 : fitness_score(FLT_MAX), transformation(Eigen::Matrix4f::Identity()){};
58
59 /** \brief Value constructor. */
60 MatchingCandidate(float s, const pcl::Correspondences& c, const Eigen::Matrix4f& m)
62
63 /** \brief Destructor. */
65
66 /** \brief Fitness score of current candidate resulting from matching algorithm. */
68
69 /** \brief Correspondences between source <-> target. */
71
72 /** \brief Corresponding transformation matrix retrieved using \a corrs. */
73 Eigen::Matrix4f transformation;
74
76};
77
79 std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate>>;
80
81/** \brief Sorting of candidates based on fitness score value. */
82struct by_score {
83 /** \brief Operator used to sort candidates based on fitness score. */
84 bool
86 {
87 return (left.fitness_score < right.fitness_score);
88 }
89};
90
91}; // namespace registration
92}; // namespace pcl
Define standard C methods and C++ classes that are common to all methods.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Definition: bfgs.h:10
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Defines all the PCL and non-PCL macros used.
Container for matching candidate consisting of.
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
pcl::Correspondences correspondences
Correspondences between source <-> target.
Eigen::Matrix4f transformation
Corresponding transformation matrix retrieved using corrs.
float fitness_score
Fitness score of current candidate resulting from matching algorithm.
Sorting of candidates based on fitness score value.
bool operator()(MatchingCandidate const &left, MatchingCandidate const &right)
Operator used to sort candidates based on fitness score.