93 lines
3.4 KiB
C++
93 lines
3.4 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2014-, Open Perception, Inc.
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* Copyright (C) 2008 Ben Gurion University of the Negev, Beer Sheva, Israel.
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*
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* All rights reserved
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/common/common.h>
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#include <pcl/registration/registration.h>
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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namespace pcl {
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namespace registration {
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/** \brief Container for matching candidate consisting of
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*
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* * fitness score value as a result of the matching algorithm
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* * correspondences between source and target data set
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* * transformation matrix calculated based on the correspondences
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*
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*/
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struct MatchingCandidate {
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/** \brief Constructor. */
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MatchingCandidate()
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: fitness_score(FLT_MAX), transformation(Eigen::Matrix4f::Identity()){};
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/** \brief Value constructor. */
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MatchingCandidate(float s, const pcl::Correspondences& c, const Eigen::Matrix4f& m)
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: fitness_score(s), correspondences(c), transformation(m){};
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/** \brief Destructor. */
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~MatchingCandidate(){};
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/** \brief Fitness score of current candidate resulting from matching algorithm. */
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float fitness_score;
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/** \brief Correspondences between source <-> target. */
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pcl::Correspondences correspondences;
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/** \brief Corresponding transformation matrix retrieved using \a corrs. */
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Eigen::Matrix4f transformation;
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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using MatchingCandidates =
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std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate>>;
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/** \brief Sorting of candidates based on fitness score value. */
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struct by_score {
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/** \brief Operator used to sort candidates based on fitness score. */
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bool
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operator()(MatchingCandidate const& left, MatchingCandidate const& right)
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{
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return (left.fitness_score < right.fitness_score);
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}
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};
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}; // namespace registration
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}; // namespace pcl
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