Point Cloud Library (PCL)  1.12.1-dev
matching_candidate.h
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37 
38 #pragma once
39 
40 #include <pcl/common/common.h>
41 #include <pcl/registration/registration.h>
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 
45 #include <limits>
46 
47 namespace pcl {
48 namespace registration {
49 /** \brief Container for matching candidate consisting of
50  *
51  * * fitness score value as a result of the matching algorithm
52  * * correspondences between source and target data set
53  * * transformation matrix calculated based on the correspondences
54  *
55  */
57  /** \brief Constructor. */
59  : fitness_score(std::numeric_limits<float>::max())
60  , transformation(Eigen::Matrix4f::Identity()){};
61 
62  /** \brief Value constructor. */
63  MatchingCandidate(float s, const pcl::Correspondences& c, const Eigen::Matrix4f& m)
65 
66  /** \brief Destructor. */
67  ~MatchingCandidate() = default;
68 
69  /** \brief Fitness score of current candidate resulting from matching algorithm. */
71 
72  /** \brief Correspondences between source <-> target. */
74 
75  /** \brief Corresponding transformation matrix retrieved using \a corrs. */
76  Eigen::Matrix4f transformation;
77 
79 };
80 
82  std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate>>;
83 
84 /** \brief Sorting of candidates based on fitness score value. */
85 struct by_score {
86  /** \brief Operator used to sort candidates based on fitness score. */
87  bool
88  operator()(MatchingCandidate const& left, MatchingCandidate const& right)
89  {
90  return (left.fitness_score < right.fitness_score);
91  }
92 };
93 
94 }; // namespace registration
95 }; // namespace pcl
Define standard C methods and C++ classes that are common to all methods.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Definition: bfgs.h:10
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Defines all the PCL and non-PCL macros used.
Container for matching candidate consisting of.
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
pcl::Correspondences correspondences
Correspondences between source <-> target.
~MatchingCandidate()=default
Destructor.
Eigen::Matrix4f transformation
Corresponding transformation matrix retrieved using corrs.
float fitness_score
Fitness score of current candidate resulting from matching algorithm.
Sorting of candidates based on fitness score value.
bool operator()(MatchingCandidate const &left, MatchingCandidate const &right)
Operator used to sort candidates based on fitness score.