Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: correspondence.h 3006 2011-10-31 23:25:06Z rusu $ 00035 */ 00036 #ifndef PCL_COMMON_CORRESPONDENCE_H_ 00037 #define PCL_COMMON_CORRESPONDENCE_H_ 00038 00039 #include <Eigen/Core> 00040 #include <vector> 00041 #include <boost/shared_ptr.hpp> 00042 00043 namespace pcl 00044 { 00051 struct Correspondence 00052 { 00054 int index_query; 00056 int index_match; 00058 float distance; 00059 00063 inline Correspondence () : index_query (0), index_match (-1), 00064 distance (std::numeric_limits<float>::max ()) 00065 {} 00066 00068 inline Correspondence (int _index_query, int _index_match, float _distance) : 00069 index_query (_index_query), index_match (_index_match), distance (_distance) 00070 {} 00071 00072 EIGEN_MAKE_ALIGNED_OPERATOR_NEW; 00073 }; 00074 00076 inline std::ostream& 00077 operator << (std::ostream& os, const Correspondence& c) 00078 { 00079 os << c.index_query << " " << c.index_match << " " << c.distance; 00080 return (os); 00081 } 00082 00083 typedef std::vector< pcl::Correspondence, Eigen::aligned_allocator<pcl::Correspondence> > Correspondences; 00084 typedef boost::shared_ptr<Correspondences> CorrespondencesPtr; 00085 typedef boost::shared_ptr<const Correspondences > CorrespondencesConstPtr; 00086 00100 void 00101 getRejectedQueryIndices (const pcl::Correspondences &correspondences_before, 00102 const pcl::Correspondences &correspondences_after, 00103 std::vector<int>& indices, 00104 bool presorting_required = true); 00105 00106 00107 00108 } 00109 00110 #endif /* PCL_COMMON_CORRESPONDENCE_H_ */