point_correspondence.h

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/* \author Bastian Steder */

#ifndef PCL_POINT_CORRESPONDENCE_H_
#define PCL_POINT_CORRESPONDENCE_H_

#include <vector>
#include <Eigen/Geometry>

namespace pcl {

struct PointCorrespondence
{
  int index1;   
  int index2;   
  float score;  
  //inline bool operator<(const PointCorrespondence& other) const { return score<other.score;}
};


struct PointCorrespondence3D : public PointCorrespondence
{
  Eigen::Vector3f point1;  
  Eigen::Vector3f point2;  

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
typedef std::vector<PointCorrespondence3D, Eigen::aligned_allocator<PointCorrespondence3D> >
        PointCorrespondences3DVector;


struct PointCorrespondence6D : public PointCorrespondence3D
{
  Eigen::Affine3f transformation;  

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
typedef std::vector<PointCorrespondence6D, Eigen::aligned_allocator<PointCorrespondence6D> >
        PointCorrespondences6DVector;

inline bool
isBetterCorrespondence (const PointCorrespondence& pc1, const PointCorrespondence& pc2)
{
  return pc1.score > pc2.score;
}

}  // end namespace pcl

#endif  //#ifndef PCL_POINT_CORRESPONDENCE_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013