Point Cloud Library (PCL)
1.3.1
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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 */ 00035 00036 /* \author Bastian Steder */ 00037 00038 #ifndef PCL_POINT_CORRESPONDENCE_H_ 00039 #define PCL_POINT_CORRESPONDENCE_H_ 00040 00041 #include <vector> 00042 #include <Eigen/Geometry> 00043 00044 namespace pcl 00045 { 00051 struct PointCorrespondence 00052 { 00053 int index1; 00054 int index2; 00055 float score; 00057 //inline bool operator<(const PointCorrespondence& other) const { return score<other.score;} 00058 }; 00059 00060 00066 struct PointCorrespondence3D : public PointCorrespondence 00067 { 00068 Eigen::Vector3f point1; 00069 Eigen::Vector3f point2; 00070 00071 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00072 }; 00073 typedef std::vector<PointCorrespondence3D, Eigen::aligned_allocator<PointCorrespondence3D> > 00074 PointCorrespondences3DVector; 00075 00076 00082 struct PointCorrespondence6D : public PointCorrespondence3D 00083 { 00084 Eigen::Affine3f transformation; 00085 00086 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00087 }; 00088 typedef std::vector<PointCorrespondence6D, Eigen::aligned_allocator<PointCorrespondence6D> > 00089 PointCorrespondences6DVector; 00090 00096 inline bool 00097 isBetterCorrespondence (const PointCorrespondence& pc1, const PointCorrespondence& pc2) 00098 { 00099 return pc1.score > pc2.score; 00100 } 00101 00102 } // end namespace pcl 00103 00104 #endif //#ifndef PCL_POINT_CORRESPONDENCE_H_