Point Cloud Library (PCL) 1.13.1
Loading...
Searching...
No Matches
correspondence.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 */
38
39#pragma once
40
41#ifdef __GNUC__
42#pragma GCC system_header
43#endif
44
45#include <pcl/pcl_base.h>
46#include <pcl/memory.h>
47#include <pcl/types.h>
48#include <Eigen/StdVector>
49#include <Eigen/Geometry>
50#include <pcl/pcl_exports.h>
51
52namespace pcl
53{
54 /** \brief Correspondence represents a match between two entities (e.g., points, descriptors, etc). This is
55 * represented via the indices of a \a source point and a \a target point, and the distance between them.
56 *
57 * \author Dirk Holz, Radu B. Rusu, Bastian Steder
58 * \ingroup common
59 */
61 {
62 /** \brief Index of the query (source) point. */
64 /** \brief Index of the matching (target) point. Set to -1 if no correspondence found. */
66 /** \brief Distance between the corresponding points, or the weight denoting the confidence in correspondence estimation */
67 union
68 {
69 float distance = std::numeric_limits<float>::max();
70 float weight;
71 };
72
73 /** \brief Standard constructor.
74 * Sets \ref index_query to 0, \ref index_match to -1, and \ref distance to std::numeric_limits<float>::max().
75 */
76 inline Correspondence () = default;
77
78 /** \brief Constructor. */
79 inline Correspondence (index_t _index_query, index_t _index_match, float _distance) :
80 index_query (_index_query), index_match (_index_match), distance (_distance)
81 {}
82
84 };
85
86 /** \brief overloaded << operator */
87 PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Correspondence& c);
88
89 using Correspondences = std::vector< pcl::Correspondence, Eigen::aligned_allocator<pcl::Correspondence> >;
90 using CorrespondencesPtr = shared_ptr<Correspondences>;
91 using CorrespondencesConstPtr = shared_ptr<const Correspondences >;
92
93 /**
94 * \brief Get the query points of correspondences that are present in
95 * one correspondence vector but not in the other, e.g., to compare
96 * correspondences before and after rejection.
97 * \param[in] correspondences_before Vector of correspondences before rejection
98 * \param[in] correspondences_after Vector of correspondences after rejection
99 * \param[out] indices Query point indices of correspondences that have been rejected
100 * \param[in] presorting_required Enable/disable internal sorting of vectors.
101 * By default (true), vectors are internally sorted before determining their difference.
102 * If the order of correspondences in \a correspondences_after is not different (has not been changed)
103 * from the order in \b correspondences_before this pre-processing step can be disabled
104 * in order to gain efficiency. In order to disable pre-sorting set \a presorting_required to false.
105 */
106 void
107 getRejectedQueryIndices (const pcl::Correspondences &correspondences_before,
108 const pcl::Correspondences &correspondences_after,
109 Indices& indices,
110 bool presorting_required = true);
111
112 /**
113 * \brief Representation of a (possible) correspondence between two 3D points in two different coordinate frames
114 * (e.g. from feature matching)
115 * \ingroup common
116 */
118 {
119 Eigen::Vector3f point1; //!< The 3D position of the point in the first coordinate frame
120 Eigen::Vector3f point2; //!< The 3D position of the point in the second coordinate frame
121
123 };
124 using PointCorrespondences3DVector = std::vector<PointCorrespondence3D, Eigen::aligned_allocator<PointCorrespondence3D> >;
125
126 /**
127 * \brief Representation of a (possible) correspondence between two points (e.g. from feature matching),
128 * that encode complete 6DOF transformations.
129 * \ingroup common
130 */
132 {
133 Eigen::Affine3f transformation; //!< The transformation to go from the coordinate system
134 //!< of point2 to the coordinate system of point1
135
137 };
138 using PointCorrespondences6DVector = std::vector<PointCorrespondence6D, Eigen::aligned_allocator<PointCorrespondence6D> >;
139
140 /**
141 * \brief Comparator to enable us to sort a vector of PointCorrespondences according to their scores using
142 * std::sort (begin(), end(), isBetterCorrespondence);
143 * \ingroup common
144 */
145 inline bool
147 {
148 return (pc1.distance > pc2.distance);
149 }
150}
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
bool isBetterCorrespondence(const Correspondence &pc1, const Correspondence &pc2)
Comparator to enable us to sort a vector of PointCorrespondences according to their scores using std:...
Defines functions, macros and traits for allocating and using memory.
shared_ptr< Correspondences > CorrespondencesPtr
shared_ptr< const Correspondences > CorrespondencesConstPtr
static constexpr index_t UNAVAILABLE
Definition pcl_base.h:62
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition types.h:112
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
std::vector< PointCorrespondence3D, Eigen::aligned_allocator< PointCorrespondence3D > > PointCorrespondences3DVector
void getRejectedQueryIndices(const pcl::Correspondences &correspondences_before, const pcl::Correspondences &correspondences_after, Indices &indices, bool presorting_required=true)
Get the query points of correspondences that are present in one correspondence vector but not in the ...
std::vector< PointCorrespondence6D, Eigen::aligned_allocator< PointCorrespondence6D > > PointCorrespondences6DVector
Correspondence represents a match between two entities (e.g., points, descriptors,...
Correspondence(index_t _index_query, index_t _index_match, float _distance)
Constructor.
index_t index_query
Index of the query (source) point.
index_t index_match
Index of the matching (target) point.
Correspondence()=default
Standard constructor.
Representation of a (possible) correspondence between two 3D points in two different coordinate frame...
Eigen::Vector3f point1
The 3D position of the point in the first coordinate frame.
Eigen::Vector3f point2
The 3D position of the point in the second coordinate frame.
Representation of a (possible) correspondence between two points (e.g.
Eigen::Affine3f transformation
The transformation to go from the coordinate system.
Defines basic non-point types used by PCL.