correspondence.h

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00001 /*
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00034  *  $Id: correspondence.h 3006 2011-10-31 23:25:06Z rusu $
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00036 #ifndef PCL_COMMON_CORRESPONDENCE_H_
00037 #define PCL_COMMON_CORRESPONDENCE_H_
00038 
00039 #include <Eigen/Core>
00040 #include <vector>
00041 #include <boost/shared_ptr.hpp>
00042 
00043 namespace pcl
00044 {
00051   struct Correspondence
00052   {
00054     int index_query;
00056     int index_match;
00058     float distance;
00059     
00063     inline Correspondence () : index_query (0), index_match (-1), 
00064                                distance (std::numeric_limits<float>::max ())
00065     {}
00066 
00068     inline Correspondence (int _index_query, int _index_match, float _distance) : 
00069       index_query (_index_query), index_match (_index_match), distance (_distance)
00070     {}
00071     
00072     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
00073   };
00074   
00076   inline std::ostream& 
00077   operator << (std::ostream& os, const Correspondence& c)
00078   {
00079     os << c.index_query << " " << c.index_match << " " << c.distance;
00080     return (os);
00081   }
00082 
00083   typedef std::vector< pcl::Correspondence, Eigen::aligned_allocator<pcl::Correspondence> > Correspondences;
00084   typedef boost::shared_ptr<Correspondences> CorrespondencesPtr;
00085   typedef boost::shared_ptr<const Correspondences > CorrespondencesConstPtr;
00086 
00100   void
00101   getRejectedQueryIndices (const pcl::Correspondences &correspondences_before,
00102                            const pcl::Correspondences &correspondences_after,
00103                            std::vector<int>& indices,
00104                            bool presorting_required = true);
00105 
00106 
00107 
00108 }
00109 
00110 #endif /* PCL_COMMON_CORRESPONDENCE_H_ */