poses_from_matches.h
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#pragma once
#include <pcl/pcl_macros.h>
#include <pcl/correspondence.h>
namespace pcl
{
/**
* \brief calculate 3D transformation based on point correspondences
* \author Bastian Steder
* \ingroup common
*/
class PCL_EXPORTS PosesFromMatches
{
public:
// =====STRUCTS=====
//! Parameters used in this class
struct PCL_EXPORTS Parameters
{
float max_correspondence_distance_error = 0.2f; // As a fraction
};
//! A result of the pose estimation process
struct PoseEstimate
{
Eigen::Affine3f transformation = Eigen::Affine3f::Identity (); //!< The estimated transformation between the two coordinate systems
float score = 0; //!< An estimate in [0,1], how good the estimated pose is
std::vector<int> correspondence_indices; //!< The indices of the used correspondences
struct IsBetter
{
bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
};
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
// =====TYPEDEFS=====
using PoseEstimatesVector = std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> >;
// =====STATIC METHODS=====
// =====PUBLIC METHODS=====
/** Use single 6DOF correspondences to estimate transformations between the coordinate systems.
* Use max_no_of_results=-1 to use all.
* It is assumed, that the correspondences are sorted from good to bad. */
void
estimatePosesUsing1Correspondence (
const PointCorrespondences6DVector& correspondences,
int max_no_of_results, PoseEstimatesVector& pose_estimates) const;
/** Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.
* It is assumed, that the correspondences are sorted from good to bad. */
void
estimatePosesUsing2Correspondences (
const PointCorrespondences6DVector& correspondences,
int max_no_of_tested_combinations, int max_no_of_results,
PoseEstimatesVector& pose_estimates) const;
/** Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.
* It is assumed, that the correspondences are sorted from good to bad. */
void
estimatePosesUsing3Correspondences (
const PointCorrespondences6DVector& correspondences,
int max_no_of_tested_combinations, int max_no_of_results,
PoseEstimatesVector& pose_estimates) const;
/// Get a reference to the parameters struct
Parameters&
getParameters () { return parameters_; }
protected:
// =====PROTECTED MEMBER VARIABLES=====
Parameters parameters_;
};
} // end namespace pcl
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::PosesFromMatches::Parameters
Parameters used in this class.
Definition: poses_from_matches.h:55
pcl::PosesFromMatches::PoseEstimate
A result of the pose estimation process.
Definition: poses_from_matches.h:61
pcl::PosesFromMatches::PoseEstimatesVector
std::vector< PoseEstimate, Eigen::aligned_allocator< PoseEstimate > > PoseEstimatesVector
Definition: poses_from_matches.h:76
pcl::PosesFromMatches::PoseEstimate::score
float score
An estimate in [0,1], how good the estimated pose is.
Definition: poses_from_matches.h:64
pcl::PosesFromMatches::PoseEstimate::IsBetter::operator()
bool operator()(const PoseEstimate &pe1, const PoseEstimate &pe2) const
Definition: poses_from_matches.h:69
pcl::PosesFromMatches::PoseEstimate::IsBetter
Definition: poses_from_matches.h:67
pcl::PointCorrespondences6DVector
std::vector< PointCorrespondence6D, Eigen::aligned_allocator< PointCorrespondence6D > > PointCorrespondences6DVector
Definition: correspondence.h:137
pcl::PosesFromMatches::PoseEstimate::correspondence_indices
std::vector< int > correspondence_indices
The indices of the used correspondences.
Definition: poses_from_matches.h:65
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:371
pcl::PosesFromMatches
calculate 3D transformation based on point correspondences
Definition: poses_from_matches.h:50
pcl::PosesFromMatches::parameters_
Parameters parameters_
Definition: poses_from_matches.h:112
pcl::PosesFromMatches::getParameters
Parameters & getParameters()
Get a reference to the parameters struct.
Definition: poses_from_matches.h:108
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253