Point Cloud Library (PCL) 1.13.0
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poses_from_matches.h
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37
38#pragma once
39
40#include <pcl/correspondence.h>
41#include <pcl/memory.h>
42#include <pcl/pcl_macros.h>
43#include <pcl/types.h>
44
45namespace pcl
46{
47 /**
48 * \brief calculate 3D transformation based on point correspondences
49 * \author Bastian Steder
50 * \ingroup common
51 */
52 class PCL_EXPORTS PosesFromMatches
53 {
54 public:
55 // =====STRUCTS=====
56 //! Parameters used in this class
57 struct PCL_EXPORTS Parameters
58 {
59 float max_correspondence_distance_error = 0.2f; // As a fraction
60 };
61
62 //! A result of the pose estimation process
64 {
65 Eigen::Affine3f transformation = Eigen::Affine3f::Identity (); //!< The estimated transformation between the two coordinate systems
66 float score = 0; //!< An estimate in [0,1], how good the estimated pose is
67 Indices correspondence_indices; //!< The indices of the used correspondences
68
69 struct IsBetter
70 {
71 bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
72 };
73 public:
75 };
76
77 // =====TYPEDEFS=====
78 using PoseEstimatesVector = std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> >;
79
80
81 // =====STATIC METHODS=====
82
83 // =====PUBLIC METHODS=====
84 /** Use single 6DOF correspondences to estimate transformations between the coordinate systems.
85 * Use max_no_of_results=-1 to use all.
86 * It is assumed, that the correspondences are sorted from good to bad. */
87 void
89 const PointCorrespondences6DVector& correspondences,
90 int max_no_of_results, PoseEstimatesVector& pose_estimates) const;
91
92 /** Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.
93 * It is assumed, that the correspondences are sorted from good to bad. */
94 void
96 const PointCorrespondences6DVector& correspondences,
97 int max_no_of_tested_combinations, int max_no_of_results,
98 PoseEstimatesVector& pose_estimates) const;
99
100 /** Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.
101 * It is assumed, that the correspondences are sorted from good to bad. */
102 void
104 const PointCorrespondences6DVector& correspondences,
105 int max_no_of_tested_combinations, int max_no_of_results,
106 PoseEstimatesVector& pose_estimates) const;
107
108 /// Get a reference to the parameters struct
109 Parameters&
110 getParameters () { return parameters_; }
111
112 protected:
113 // =====PROTECTED MEMBER VARIABLES=====
115
116 };
117
118} // end namespace pcl
calculate 3D transformation based on point correspondences
void estimatePosesUsing3Correspondences(const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.
Parameters & getParameters()
Get a reference to the parameters struct.
void estimatePosesUsing1Correspondence(const PointCorrespondences6DVector &correspondences, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
Use single 6DOF correspondences to estimate transformations between the coordinate systems.
void estimatePosesUsing2Correspondences(const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.
std::vector< PoseEstimate, Eigen::aligned_allocator< PoseEstimate > > PoseEstimatesVector
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
std::vector< PointCorrespondence6D, Eigen::aligned_allocator< PointCorrespondence6D > > PointCorrespondences6DVector
Defines all the PCL and non-PCL macros used.
Parameters used in this class.
bool operator()(const PoseEstimate &pe1, const PoseEstimate &pe2) const
A result of the pose estimation process.
float score
An estimate in [0,1], how good the estimated pose is.
Indices correspondence_indices
The indices of the used correspondences.
Defines basic non-point types used by PCL.