correspondence.h

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 *  $Id: correspondence.h 5295 2012-03-25 19:03:32Z rusu $
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#ifndef PCL_COMMON_CORRESPONDENCE_H_
#define PCL_COMMON_CORRESPONDENCE_H_

#include <boost/shared_ptr.hpp>
#include <pcl/common/eigen.h>
#include <vector>

namespace pcl
{
  struct Correspondence
  {
    int index_query;
    int index_match;
    union
    {
      float distance;
      float weight;
    };
    
    inline Correspondence () : index_query (0), index_match (-1), 
                               distance (std::numeric_limits<float>::max ())
    {}

    inline Correspondence (int _index_query, int _index_match, float _distance) : 
      index_query (_index_query), index_match (_index_match), distance (_distance)
    {}

    virtual ~Correspondence () {}
    
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
  
  inline std::ostream& 
  operator << (std::ostream& os, const Correspondence& c)
  {
    os << c.index_query << " " << c.index_match << " " << c.distance;
    return (os);
  }

  typedef std::vector< pcl::Correspondence, Eigen::aligned_allocator<pcl::Correspondence> > Correspondences;
  typedef boost::shared_ptr<Correspondences> CorrespondencesPtr;
  typedef boost::shared_ptr<const Correspondences > CorrespondencesConstPtr;

  void
  getRejectedQueryIndices (const pcl::Correspondences &correspondences_before,
                           const pcl::Correspondences &correspondences_after,
                           std::vector<int>& indices,
                           bool presorting_required = true);

  struct PointCorrespondence3D : public Correspondence
  {
    Eigen::Vector3f point1;  
    Eigen::Vector3f point2;  

    PointCorrespondence3D () : point1 (), point2 () {}

    virtual ~PointCorrespondence3D () {}
    
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
  typedef std::vector<PointCorrespondence3D, Eigen::aligned_allocator<PointCorrespondence3D> > PointCorrespondences3DVector;

  struct PointCorrespondence6D : public PointCorrespondence3D
  {
    Eigen::Affine3f transformation;  

    virtual ~PointCorrespondence6D () {}

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
  typedef std::vector<PointCorrespondence6D, Eigen::aligned_allocator<PointCorrespondence6D> > PointCorrespondences6DVector;

  inline bool
  isBetterCorrespondence (const Correspondence &pc1, const Correspondence &pc2)
  {
    return (pc1.distance > pc2.distance);
  }
}

#endif /* PCL_COMMON_CORRESPONDENCE_H_ */