matching_candidate.h

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 *  Copyright (C) 2008 Ben Gurion University of the Negev, Beer Sheva, Israel.
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#pragma once
 
#include <pcl/common/common.h>
#include <pcl/registration/registration.h>
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
 
#include <limits>
 
namespace pcl {
namespace registration {
/** \brief Container for matching candidate consisting of
 *
 * * fitness score value as a result of the matching algorithm
 * * correspondences between source and target data set
 * * transformation matrix calculated based on the correspondences
 *
 */
struct MatchingCandidate {
  /** \brief Constructor. */
  MatchingCandidate()
  : fitness_score(std::numeric_limits<float>::max())
  , transformation(Eigen::Matrix4f::Identity()){};
 
  /** \brief Value constructor. */
  MatchingCandidate(float s, const pcl::Correspondences& c, const Eigen::Matrix4f& m)
  : fitness_score(s), correspondences(c), transformation(m){};
 
  /** \brief Destructor. */
  ~MatchingCandidate() = default;
 
  /** \brief Fitness score of current candidate resulting from matching algorithm. */
  float fitness_score;
 
  /** \brief Correspondences between source <-> target. */
  pcl::Correspondences correspondences;
 
  /** \brief Corresponding transformation matrix retrieved using \a corrs. */
  Eigen::Matrix4f transformation;
 
  PCL_MAKE_ALIGNED_OPERATOR_NEW
};
 
using MatchingCandidates =
    std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate>>;
 
/** \brief Sorting of candidates based on fitness score value. */
struct by_score {
  /** \brief Operator used to sort candidates based on fitness score. */
  bool
  operator()(MatchingCandidate const& left, MatchingCandidate const& right)
  {
    return (left.fitness_score < right.fitness_score);
  }
};
 
}; // namespace registration
}; // namespace pcl