Point Cloud Library (PCL)  1.12.0-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 namespace pcl {
46 namespace registration {
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  /** \brief Constructor. */
57  : fitness_score(FLT_MAX), transformation(Eigen::Matrix4f::Identity()){};
58 
59  /** \brief Value constructor. */
60  MatchingCandidate(float s, const pcl::Correspondences& c, const Eigen::Matrix4f& m)
62 
63  /** \brief Destructor. */
65 
66  /** \brief Fitness score of current candidate resulting from matching algorithm. */
67  float fitness_score;
68 
69  /** \brief Correspondences between source <-> target. */
71 
72  /** \brief Corresponding transformation matrix retrieved using \a corrs. */
73  Eigen::Matrix4f transformation;
74 
76 };
77 
78 using MatchingCandidates =
79  std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate>>;
80 
81 /** \brief Sorting of candidates based on fitness score value. */
82 struct by_score {
83  /** \brief Operator used to sort candidates based on fitness score. */
84  bool
85  operator()(MatchingCandidate const& left, MatchingCandidate const& right)
86  {
87  return (left.fitness_score < right.fitness_score);
88  }
89 };
90 
91 }; // namespace registration
92 }; // namespace pcl
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
Eigen
Definition: bfgs.h:10
common.h
pcl::registration::MatchingCandidate::correspondences
pcl::Correspondences correspondences
Correspondences between source <-> target.
Definition: matching_candidate.h:70
pcl::registration::by_score
Sorting of candidates based on fitness score value.
Definition: matching_candidate.h:82
pcl::registration::MatchingCandidates
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
Definition: matching_candidate.h:79
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::registration::MatchingCandidate::fitness_score
float fitness_score
Fitness score of current candidate resulting from matching algorithm.
Definition: matching_candidate.h:64
pcl::registration::by_score::operator()
bool operator()(MatchingCandidate const &left, MatchingCandidate const &right)
Operator used to sort candidates based on fitness score.
Definition: matching_candidate.h:85
pcl::registration::MatchingCandidate::~MatchingCandidate
~MatchingCandidate()
Destructor.
Definition: matching_candidate.h:64
pcl::registration::MatchingCandidate::MatchingCandidate
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
Definition: matching_candidate.h:60
pcl::registration::MatchingCandidate::MatchingCandidate
MatchingCandidate()
Constructor.
Definition: matching_candidate.h:56
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::registration::MatchingCandidate
Container for matching candidate consisting of.
Definition: matching_candidate.h:54
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::registration::MatchingCandidate::transformation
Eigen::Matrix4f transformation
Corresponding transformation matrix retrieved using corrs.
Definition: matching_candidate.h:73