correspondence_sorting.h
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#pragma once
#if defined __GNUC__
# pragma GCC system_header
#endif
#include <pcl/registration/correspondence_types.h>
namespace pcl
{
namespace registration
{
/** @b sortCorrespondencesByQueryIndex : a functor for sorting correspondences by query index
* \author Dirk Holz
* \ingroup registration
*/
struct sortCorrespondencesByQueryIndex
{
using first_argument_type = pcl::Correspondence;
using second_argument_type = pcl::Correspondence;
using result_type = bool;
bool
operator()( pcl::Correspondence a, pcl::Correspondence b)
{
return (a.index_query < b.index_query);
}
};
/** @b sortCorrespondencesByMatchIndex : a functor for sorting correspondences by match index
* \author Dirk Holz
* \ingroup registration
*/
struct sortCorrespondencesByMatchIndex
{
using first_argument_type = pcl::Correspondence;
using second_argument_type = pcl::Correspondence;
using result_type = bool;
bool
operator()( pcl::Correspondence a, pcl::Correspondence b)
{
return (a.index_match < b.index_match);
}
};
/** @b sortCorrespondencesByDistance : a functor for sorting correspondences by distance
* \author Dirk Holz
* \ingroup registration
*/
struct sortCorrespondencesByDistance
{
using first_argument_type = pcl::Correspondence;
using second_argument_type = pcl::Correspondence;
using result_type = bool;
bool
operator()( pcl::Correspondence a, pcl::Correspondence b)
{
return (a.distance < b.distance);
}
};
/** @b sortCorrespondencesByQueryIndexAndDistance : a functor for sorting correspondences by query index _and_ distance
* \author Dirk Holz
* \ingroup registration
*/
struct sortCorrespondencesByQueryIndexAndDistance
{
using first_argument_type = pcl::Correspondence;
using second_argument_type = pcl::Correspondence;
using result_type = bool;
inline bool
operator()( pcl::Correspondence a, pcl::Correspondence b)
{
if (a.index_query < b.index_query)
return (true);
else if ( (a.index_query == b.index_query) && (a.distance < b.distance) )
return (true);
return (false);
}
};
/** @b sortCorrespondencesByMatchIndexAndDistance : a functor for sorting correspondences by match index _and_ distance
* \author Dirk Holz
* \ingroup registration
*/
struct sortCorrespondencesByMatchIndexAndDistance
{
using first_argument_type = pcl::Correspondence;
using second_argument_type = pcl::Correspondence;
using result_type = bool;
inline bool
operator()( pcl::Correspondence a, pcl::Correspondence b)
{
if (a.index_match < b.index_match)
return (true);
else if ( (a.index_match == b.index_match) && (a.distance < b.distance) )
return (true);
return (false);
}
};
}
}
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::Correspondence::index_match
int index_match
Index of the matching (target) point.
Definition: correspondence.h:64
pcl::Correspondence::distance
float distance
Definition: correspondence.h:68
pcl::registration::sortCorrespondencesByDistance
sortCorrespondencesByDistance : a functor for sorting correspondences by distance
Definition: correspondence_sorting.h:89
pcl::registration::sortCorrespondencesByMatchIndex
sortCorrespondencesByMatchIndex : a functor for sorting correspondences by match index
Definition: correspondence_sorting.h:73
pcl::registration::sortCorrespondencesByQueryIndex
sortCorrespondencesByQueryIndex : a functor for sorting correspondences by query index
Definition: correspondence_sorting.h:57
pcl::registration::sortCorrespondencesByQueryIndexAndDistance::operator()
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
Definition: correspondence_sorting.h:111
pcl::registration::sortCorrespondencesByQueryIndex::operator()
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
Definition: correspondence_sorting.h:63
pcl::registration::sortCorrespondencesByMatchIndexAndDistance::operator()
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
Definition: correspondence_sorting.h:131
pcl::registration::sortCorrespondencesByMatchIndexAndDistance::result_type
bool result_type
Definition: correspondence_sorting.h:129
pcl::registration::sortCorrespondencesByQueryIndex::result_type
bool result_type
Definition: correspondence_sorting.h:61
pcl::registration::sortCorrespondencesByDistance::result_type
bool result_type
Definition: correspondence_sorting.h:93
pcl::registration::sortCorrespondencesByMatchIndexAndDistance
sortCorrespondencesByMatchIndexAndDistance : a functor for sorting correspondences by match index and...
Definition: correspondence_sorting.h:125
pcl::Correspondence::index_query
int index_query
Index of the query (source) point.
Definition: correspondence.h:62
pcl::registration::sortCorrespondencesByQueryIndexAndDistance::result_type
bool result_type
Definition: correspondence_sorting.h:109
pcl::registration::sortCorrespondencesByQueryIndexAndDistance
sortCorrespondencesByQueryIndexAndDistance : a functor for sorting correspondences by query index and...
Definition: correspondence_sorting.h:105
pcl::registration::sortCorrespondencesByMatchIndex::operator()
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
Definition: correspondence_sorting.h:79
pcl::Correspondence
Correspondence represents a match between two entities (e.g., points, descriptors,...
Definition: correspondence.h:59
pcl::registration::sortCorrespondencesByDistance::operator()
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
Definition: correspondence_sorting.h:95
pcl::registration::sortCorrespondencesByMatchIndex::result_type
bool result_type
Definition: correspondence_sorting.h:77