1 /*
2  * Software License Agreement (BSD License)
3  *
4  *  Point Cloud Library (PCL) - www.pointclouds.org
5  *  Copyright (c) 2010-2012, Willow Garage, Inc.
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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 
45 namespace 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
63       struct PoseEstimate
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         {
operatorPoseEstimate::IsBetter71           bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
72         };
73         public:
74           PCL_MAKE_ALIGNED_OPERATOR_NEW
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
88       estimatePosesUsing1Correspondence (
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
95       estimatePosesUsing2Correspondences (
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
103       estimatePosesUsing3Correspondences (
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&
getParameters()110       getParameters () { return parameters_; }
111 
112     protected:
113       // =====PROTECTED MEMBER VARIABLES=====
114       Parameters parameters_;
115 
116   };
117 
118 }  // end namespace pcl
119