38 #ifndef PCL_COMMON_CORRESPONDENCE_H_
39 #define PCL_COMMON_CORRESPONDENCE_H_
42 #pragma GCC system_header
45 #include <boost/shared_ptr.hpp>
46 #include <Eigen/StdVector>
47 #include <Eigen/Geometry>
48 #include <pcl/pcl_exports.h>
79 inline Correspondence (
int _index_query,
int _index_match,
float _distance) :
80 index_query (_index_query), index_match (_index_match),
distance (_distance)
86 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
90 PCL_EXPORTS std::ostream&
operator << (std::ostream& os,
const Correspondence& c);
92 typedef std::vector< pcl::Correspondence, Eigen::aligned_allocator<pcl::Correspondence> >
Correspondences;
112 std::vector<int>& indices,
113 bool presorting_required =
true);
131 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
147 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Eigen::Vector3f point1
The 3D position of the point in the first coordinate frame.
int index_match
Index of the matching (target) point.
PointCorrespondence3D()
Empty constructor.
virtual ~PointCorrespondence3D()
Empty destructor.
Correspondence(int _index_query, int _index_match, float _distance)
Constructor.
Correspondence represents a match between two entities (e.g., points, descriptors, etc).
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
int index_query
Index of the query (source) point.
Correspondence()
Standard constructor.
boost::shared_ptr< const Correspondences > CorrespondencesConstPtr
virtual ~PointCorrespondence6D()
Empty destructor.
Representation of a (possible) correspondence between two 3D points in two different coordinate frame...
Representation of a (possible) correspondence between two points (e.g.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< Correspondences > CorrespondencesPtr
Eigen::Vector3f point2
The 3D position of the point in the second coordinate frame.
std::vector< PointCorrespondence6D, Eigen::aligned_allocator< PointCorrespondence6D > > PointCorrespondences6DVector
void getRejectedQueryIndices(const pcl::Correspondences &correspondences_before, const pcl::Correspondences &correspondences_after, std::vector< int > &indices, bool presorting_required=true)
Get the query points of correspondences that are present in one correspondence vector but not in the ...
std::vector< PointCorrespondence3D, Eigen::aligned_allocator< PointCorrespondence3D > > PointCorrespondences3DVector
bool isBetterCorrespondence(const Correspondence &pc1, const Correspondence &pc2)
Comparator to enable us to sort a vector of PointCorrespondences according to their scores using std:...
virtual ~Correspondence()
Empty destructor.
Eigen::Affine3f transformation
The transformation to go from the coordinate system.