poses_from_matches.h

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#ifndef PCL_POSES_FROM_MATCHES_H_
#define PCL_POSES_FROM_MATCHES_H_

#include <pcl/pcl_macros.h>
#include <pcl/correspondence.h>

namespace pcl
{
  class PCL_EXPORTS PosesFromMatches
  {
    public:
      // =====CONSTRUCTOR & DESTRUCTOR=====
      PosesFromMatches();
      ~PosesFromMatches();
      
      // =====STRUCTS=====
      struct PCL_EXPORTS Parameters
      {
        Parameters() : max_correspondence_distance_error(0.2f) {}
        float max_correspondence_distance_error;  // As a fraction
      };

      struct PoseEstimate
      {
        PoseEstimate () : 
          transformation (Eigen::Affine3f::Identity ()),
          score (0),
          correspondence_indices (0) 
        {}

        Eigen::Affine3f transformation;   
        float score;                         
        std::vector<int> correspondence_indices;  

        struct IsBetter 
        {
          bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
        };
        public:
          EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      };
      
      // =====TYPEDEFS=====
      typedef std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> > PoseEstimatesVector;

      
      // =====STATIC METHODS=====
      
      // =====PUBLIC METHODS=====
      void 
      estimatePosesUsing1Correspondence (
          const PointCorrespondences6DVector& correspondences,
          int max_no_of_results, PoseEstimatesVector& pose_estimates) const;

      void 
      estimatePosesUsing2Correspondences (
          const PointCorrespondences6DVector& correspondences,
          int max_no_of_tested_combinations, int max_no_of_results,
          PoseEstimatesVector& pose_estimates) const;
      
      void 
      estimatePosesUsing3Correspondences (
          const PointCorrespondences6DVector& correspondences,
          int max_no_of_tested_combinations, int max_no_of_results,
          PoseEstimatesVector& pose_estimates) const;

      Parameters& 
      getParameters () { return parameters_; }

    protected:
      // =====PROTECTED MEMBER VARIABLES=====
      Parameters parameters_;

  };

}  // end namespace pcl

#endif  //#ifndef PCL_POSES_FROM_MATCHES_H_