point_correspondence.h

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00035 
00036 /* \author Bastian Steder */
00037 
00038 #ifndef PCL_POINT_CORRESPONDENCE_H_
00039 #define PCL_POINT_CORRESPONDENCE_H_
00040 
00041 #include <vector>
00042 #include <Eigen/Geometry>
00043 #include <Eigen/StdVector>
00044 
00045 namespace pcl 
00046 {
00052   struct PointCorrespondence
00053   {
00054     int index1;   
00055     int index2;   
00056     float score;  
00058     //inline bool operator<(const PointCorrespondence& other) const { return score<other.score;}
00059   };
00060 
00061 
00067   struct PointCorrespondence3D : public PointCorrespondence
00068   {
00069     Eigen::Vector3f point1;  
00070     Eigen::Vector3f point2;  
00071 
00072     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00073   };
00074   typedef std::vector<PointCorrespondence3D, Eigen::aligned_allocator<PointCorrespondence3D> >
00075           PointCorrespondences3DVector;
00076 
00077 
00083   struct PointCorrespondence6D : public PointCorrespondence3D
00084   {
00085     Eigen::Affine3f transformation;  
00086 
00087     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00088   };
00089   typedef std::vector<PointCorrespondence6D, Eigen::aligned_allocator<PointCorrespondence6D> >
00090           PointCorrespondences6DVector;
00091 
00097   inline bool
00098   isBetterCorrespondence (const PointCorrespondence& pc1, const PointCorrespondence& pc2)
00099   {
00100     return pc1.score > pc2.score;
00101   }
00102 
00103 }  // end namespace pcl
00104 
00105 #endif  //#ifndef PCL_POINT_CORRESPONDENCE_H_