Point Cloud Library (PCL)  1.7.1
poses_from_matches.h
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37 
38 #ifndef PCL_POSES_FROM_MATCHES_H_
39 #define PCL_POSES_FROM_MATCHES_H_
40 
41 #include <pcl/pcl_macros.h>
42 #include <pcl/correspondence.h>
43 
44 namespace pcl
45 {
46  /**
47  * \brief calculate 3D transformation based on point correspondencdes
48  * \author Bastian Steder
49  * \ingroup common
50  */
51  class PCL_EXPORTS PosesFromMatches
52  {
53  public:
54  // =====CONSTRUCTOR & DESTRUCTOR=====
55  //! Constructor
57  //! Destructor
59 
60  // =====STRUCTS=====
61  //! Parameters used in this class
62  struct PCL_EXPORTS Parameters
63  {
64  Parameters() : max_correspondence_distance_error(0.2f) {}
65  float max_correspondence_distance_error; // As a fraction
66  };
67 
68  //! A result of the pose estimation process
69  struct PoseEstimate
70  {
72  transformation (Eigen::Affine3f::Identity ()),
73  score (0),
74  correspondence_indices (0)
75  {}
76 
77  Eigen::Affine3f transformation; //!< The estimated transformation between the two coordinate systems
78  float score; //!< An estimate in [0,1], how good the estimated pose is
79  std::vector<int> correspondence_indices; //!< The indices of the used correspondences
80 
81  struct IsBetter
82  {
83  bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
84  };
85  public:
86  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
87  };
88 
89  // =====TYPEDEFS=====
90  typedef std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> > PoseEstimatesVector;
91 
92 
93  // =====STATIC METHODS=====
94 
95  // =====PUBLIC METHODS=====
96  /** Use single 6DOF correspondences to estimate transformations between the coordinate systems.
97  * Use max_no_of_results=-1 to use all.
98  * It is assumed, that the correspondences are sorted from good to bad. */
99  void
100  estimatePosesUsing1Correspondence (
101  const PointCorrespondences6DVector& correspondences,
102  int max_no_of_results, PoseEstimatesVector& pose_estimates) const;
103 
104  /** Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.
105  * It is assumed, that the correspondences are sorted from good to bad. */
106  void
107  estimatePosesUsing2Correspondences (
108  const PointCorrespondences6DVector& correspondences,
109  int max_no_of_tested_combinations, int max_no_of_results,
110  PoseEstimatesVector& pose_estimates) const;
111 
112  /** Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.
113  * It is assumed, that the correspondences are sorted from good to bad. */
114  void
115  estimatePosesUsing3Correspondences (
116  const PointCorrespondences6DVector& correspondences,
117  int max_no_of_tested_combinations, int max_no_of_results,
118  PoseEstimatesVector& pose_estimates) const;
119 
120  /// Get a reference to the parameters struct
121  Parameters&
122  getParameters () { return parameters_; }
123 
124  protected:
125  // =====PROTECTED MEMBER VARIABLES=====
127 
128  };
129 
130 } // end namespace pcl
131 
132 #endif //#ifndef PCL_POSES_FROM_MATCHES_H_