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matching_candidate.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2014-, Open Perception, Inc.
* Copyright (C) 2008 Ben Gurion University of the Negev, Beer Sheva, Israel.
*
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* notice, this list of conditions and the following disclaimer.
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#pragma once
#include <pcl/common/common.h>
#include <pcl/registration/registration.h>
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <limits>
namespace pcl {
namespace registration {
/** \brief Container for matching candidate consisting of
*
* * fitness score value as a result of the matching algorithm
* * correspondences between source and target data set
* * transformation matrix calculated based on the correspondences
*
*/
struct MatchingCandidate {
/** \brief Constructor. */
MatchingCandidate()
: fitness_score(std::numeric_limits<float>::max())
, transformation(Eigen::Matrix4f::Identity()){};
/** \brief Value constructor. */
MatchingCandidate(float s, const pcl::Correspondences& c, const Eigen::Matrix4f& m)
: fitness_score(s), correspondences(c), transformation(m){};
/** \brief Destructor. */
~MatchingCandidate() = default;
/** \brief Fitness score of current candidate resulting from matching algorithm. */
float fitness_score;
/** \brief Correspondences between source <-> target. */
pcl::Correspondences correspondences;
/** \brief Corresponding transformation matrix retrieved using \a corrs. */
Eigen::Matrix4f transformation;
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
using MatchingCandidates =
std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate>>;
/** \brief Sorting of candidates based on fitness score value. */
struct by_score {
/** \brief Operator used to sort candidates based on fitness score. */
bool
operator()(MatchingCandidate const& left, MatchingCandidate const& right)
{
return (left.fitness_score < right.fitness_score);
}
};
}; // namespace registration
}; // namespace pcl
common.h
Define standard C methods and C++ classes that are common to all methods.
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
memory.h
Defines functions, macros and traits for allocating and using memory.
Eigen
Definition bfgs.h:10
pcl::registration::MatchingCandidates
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
Definition matching_candidate.h:82
pcl
Definition convolution.h:46
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition correspondence.h:89
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl::registration::MatchingCandidate
Container for matching candidate consisting of.
Definition matching_candidate.h:56
pcl::registration::MatchingCandidate::MatchingCandidate
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
Definition matching_candidate.h:63
pcl::registration::MatchingCandidate::correspondences
pcl::Correspondences correspondences
Correspondences between source <-> target.
Definition matching_candidate.h:73
pcl::registration::MatchingCandidate::~MatchingCandidate
~MatchingCandidate()=default
Destructor.
pcl::registration::MatchingCandidate::MatchingCandidate
MatchingCandidate()
Constructor.
Definition matching_candidate.h:58
pcl::registration::MatchingCandidate::transformation
Eigen::Matrix4f transformation
Corresponding transformation matrix retrieved using corrs.
Definition matching_candidate.h:76
pcl::registration::MatchingCandidate::fitness_score
float fitness_score
Fitness score of current candidate resulting from matching algorithm.
Definition matching_candidate.h:70
pcl::registration::by_score
Sorting of candidates based on fitness score value.
Definition matching_candidate.h:85
pcl::registration::by_score::operator()
bool operator()(MatchingCandidate const &left, MatchingCandidate const &right)
Operator used to sort candidates based on fitness score.
Definition matching_candidate.h:88