Point Cloud Library (PCL)  1.9.1-dev
matching_candidate.h
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37 
38 #pragma once
39 
40 #include <pcl/registration/registration.h>
41 #include <pcl/common/common.h>
42 
43 namespace pcl
44 {
45  namespace registration
46  {
47  /** \brief Container for matching candidate consisting of
48  *
49  * * fitness score value as a result of the matching algorithm
50  * * correspondences between source and target data set
51  * * transformation matrix calculated based on the correspondences
52  *
53  */
55  {
56  /** \brief Constructor. */
58  fitness_score (FLT_MAX),
59  transformation (Eigen::Matrix4f::Identity ())
60  {};
61 
62  /** \brief Value constructor. */
63  MatchingCandidate (float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m) :
64  fitness_score (s),
65  correspondences (c),
66  transformation (m)
67  {};
68 
69  /** \brief Destructor. */
71  {};
72 
73 
74  /** \brief Fitness score of current candidate resulting from matching algorithm. */
75  float fitness_score;
76 
77  /** \brief Correspondences between source <-> target. */
79 
80  /** \brief Corresponding transformation matrix retrieved using \a corrs. */
81  Eigen::Matrix4f transformation;
82 
83  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
84  };
85 
86  typedef std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate> > MatchingCandidates;
87 
88  /** \brief Sorting of candidates based on fitness score value. */
89  struct by_score
90  {
91  /** \brief Operator used to sort candidates based on fitness score. */
92  bool operator () (MatchingCandidate const &left, MatchingCandidate const &right)
93  {
94  return (left.fitness_score < right.fitness_score);
95  }
96  };
97 
98  }; // namespace registration
99 }; // namespace pcl
float fitness_score
Fitness score of current candidate resulting from matching algorithm.
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
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:44
Container for matching candidate consisting of.
Definition: bfgs.h:9
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
pcl::Correspondences correspondences
Correspondences between source <-> target.