Point Cloud Library (PCL) 1.15.0
Loading...
Searching...
No Matches
matching_candidate.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2014-, Open Perception, Inc.
6 * Copyright (C) 2008 Ben Gurion University of the Negev, Beer Sheva, Israel.
7 *
8 * All rights reserved
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions are met
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
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
47namespace pcl {
48namespace 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. */
85struct by_score {
86 /** \brief Operator used to sort candidates based on fitness score. */
87 bool
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:86
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.