00001 /* This file is part of RGBDSLAM. 00002 * 00003 * RGBDSLAM is free software: you can redistribute it and/or modify 00004 * it under the terms of the GNU General Public License as published by 00005 * the Free Software Foundation, either version 3 of the License, or 00006 * (at your option) any later version. 00007 * 00008 * RGBDSLAM is distributed in the hope that it will be useful, 00009 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00010 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00011 * GNU General Public License for more details. 00012 * 00013 * You should have received a copy of the GNU General Public License 00014 * along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>. 00015 */ 00016 00017 00018 #ifndef MATCHING_RESULT_H 00019 #define MATCHING_RESULT_H 00020 #include <opencv2/features2d/features2d.hpp> 00021 #include <Eigen/Core> 00022 #include "edge.h" 00023 00024 class MatchingResult { 00025 public: 00026 MatchingResult() : 00027 rmse(0.0), 00028 ransac_trafo(Eigen::Matrix4f::Identity()), 00029 final_trafo(Eigen::Matrix4f::Identity()), 00030 icp_trafo(Eigen::Matrix4f::Identity()) 00031 { 00032 edge.id1 = edge.id2 = -1; 00033 } 00034 std::vector<cv::DMatch> inlier_matches; 00035 std::vector<cv::DMatch> all_matches; 00036 LoadedEdge3D edge; 00037 float rmse; 00038 Eigen::Matrix4f ransac_trafo; 00039 Eigen::Matrix4f final_trafo; 00040 Eigen::Matrix4f icp_trafo; 00041 public: 00042 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00043 }; 00044 00045 #endif
