poses_from_matches.h

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/* \author Bastian Steder */

#ifndef PCL_POSES_FROM_MATCHES_H_
#define PCL_POSES_FROM_MATCHES_H_

#include <pcl/common/point_correspondence.h>

namespace pcl
{

class PosesFromMatches
{
  public:
    // =====CONSTRUCTOR & DESTRUCTOR=====
    PosesFromMatches();
    ~PosesFromMatches();
    
    // =====STRUCTS=====
    struct Parameters
    {
      Parameters() : max_correspondence_distance_error(0.2f) {}
      float max_correspondence_distance_error;  // As a fraction
    };

    struct PoseEstimate
    {
      Eigen::Affine3f transformation;   
      float score;                         
      std::vector<int> correspondence_indices;  
      struct IsBetter {
        bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
      };
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
    
    // =====TYPEDEFS=====
    typedef std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> > PoseEstimatesVector;

    
    // =====STATIC METHODS=====
    
    // =====PUBLIC METHODS=====
    void estimatePosesUsing1Correspondence(
        const PointCorrespondences6DVector& correspondences,
        int max_no_of_results, PoseEstimatesVector& pose_estimates) const;

    void estimatePosesUsing2Correspondences(
        const PointCorrespondences6DVector& correspondences,
        int max_no_of_tested_combinations, int max_no_of_results,
        PoseEstimatesVector& pose_estimates) const;
    
    void estimatePosesUsing3Correspondences(
        const PointCorrespondences6DVector& correspondences,
        int max_no_of_tested_combinations, int max_no_of_results,
        PoseEstimatesVector& pose_estimates) const;

    // Get a reference to the parameters struct
    Parameters& getParameters() { return parameters_; }

  protected:
    // =====PROTECTED MEMBER VARIABLES=====
    Parameters parameters_;

};

}  // end namespace pcl

#endif  //#ifndef PCL_POSES_FROM_MATCHES_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