Point Cloud Library (PCL)  1.9.1-dev
matching_candidate.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 #include <pcl/registration/registration.h>
42 #include <pcl/common/common.h>
43 
44 namespace pcl
45 {
46  namespace registration
47  {
48  /** \brief Container for matching candidate consisting of
49  *
50  * * fitness score value as a result of the matching algorithm
51  * * correspondences between source and target data set
52  * * transformation matrix calculated based on the correspondences
53  *
54  */
56  {
57  /** \brief Constructor. */
59  fitness_score (FLT_MAX),
60  transformation (Eigen::Matrix4f::Identity ())
61  {};
62 
63  /** \brief Value constructor. */
64  MatchingCandidate (float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m) :
65  fitness_score (s),
66  correspondences (c),
67  transformation (m)
68  {};
69 
70  /** \brief Destructor. */
72  {};
73 
74 
75  /** \brief Fitness score of current candidate resulting from matching algorithm. */
76  float fitness_score;
77 
78  /** \brief Correspondences between source <-> target. */
80 
81  /** \brief Corresponding transformation matrix retrieved using \a corrs. */
82  Eigen::Matrix4f transformation;
83 
85  };
86 
87  using MatchingCandidates = std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate> >;
88 
89  /** \brief Sorting of candidates based on fitness score value. */
90  struct by_score
91  {
92  /** \brief Operator used to sort candidates based on fitness score. */
93  bool operator () (MatchingCandidate const &left, MatchingCandidate const &right)
94  {
95  return (left.fitness_score < right.fitness_score);
96  }
97  };
98 
99  }; // namespace registration
100 }; // namespace pcl
float fitness_score
Fitness score of current candidate resulting from matching algorithm.
Eigen::Matrix4f transformation
Corresponding transformation matrix retrieved using corrs.
Sorting of candidates based on fitness score value.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Container for matching candidate consisting of.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:344
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
Definition: bfgs.h:9
Define standard C methods and C++ classes that are common to all methods.
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
pcl::Correspondences correspondences
Correspondences between source <-> target.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Defines all the PCL and non-PCL macros used.