Point Cloud Library (PCL)  1.11.0
matching_candidate.h
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37 
38 #pragma once
39 
40 #include <pcl/memory.h>
41 #include <pcl/pcl_macros.h>
42 #include <pcl/registration/registration.h>
43 #include <pcl/common/common.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
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  {
58  /** \brief Constructor. */
60  fitness_score (FLT_MAX),
61  transformation (Eigen::Matrix4f::Identity ())
62  {};
63 
64  /** \brief Value constructor. */
65  MatchingCandidate (float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m) :
66  fitness_score (s),
67  correspondences (c),
68  transformation (m)
69  {};
70 
71  /** \brief Destructor. */
73  {};
74 
75 
76  /** \brief Fitness score of current candidate resulting from matching algorithm. */
78 
79  /** \brief Correspondences between source <-> target. */
81 
82  /** \brief Corresponding transformation matrix retrieved using \a corrs. */
83  Eigen::Matrix4f transformation;
84 
86  };
87 
88  using MatchingCandidates = std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate> >;
89 
90  /** \brief Sorting of candidates based on fitness score value. */
91  struct by_score
92  {
93  /** \brief Operator used to sort candidates based on fitness score. */
94  bool operator () (MatchingCandidate const &left, MatchingCandidate const &right)
95  {
96  return (left.fitness_score < right.fitness_score);
97  }
98  };
99 
100  }; // namespace registration
101 }; // 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:80
pcl::registration::by_score
Sorting of candidates based on fitness score value.
Definition: matching_candidate.h:92
pcl::registration::MatchingCandidates
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
Definition: matching_candidate.h:88
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:73
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:94
pcl::registration::MatchingCandidate::~MatchingCandidate
~MatchingCandidate()
Destructor.
Definition: matching_candidate.h:72
pcl::registration::MatchingCandidate::MatchingCandidate
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
Definition: matching_candidate.h:65
pcl::registration::MatchingCandidate::MatchingCandidate
MatchingCandidate()
Constructor.
Definition: matching_candidate.h:59
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88
pcl::registration::MatchingCandidate
Container for matching candidate consisting of.
Definition: matching_candidate.h:57
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:83