38 #ifndef PCL_POSES_FROM_MATCHES_H_
39 #define PCL_POSES_FROM_MATCHES_H_
41 #include <pcl/pcl_macros.h>
42 #include <pcl/correspondence.h>
64 Parameters() : max_correspondence_distance_error(0.2f) {}
72 transformation (Eigen::Affine3f::Identity ()),
74 correspondence_indices (0)
86 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
100 estimatePosesUsing1Correspondence (
107 estimatePosesUsing2Correspondences (
109 int max_no_of_tested_combinations,
int max_no_of_results,
115 estimatePosesUsing3Correspondences (
117 int max_no_of_tested_combinations,
int max_no_of_results,
132 #endif //#ifndef PCL_POSES_FROM_MATCHES_H_
std::vector< PointCorrespondence6D, Eigen::aligned_allocator< PointCorrespondence6D > > PointCorrespondences6DVector
Parameters used in this class.
A result of the pose estimation process.
float score
An estimate in [0,1], how good the estimated pose is.
std::vector< int > correspondence_indices
The indices of the used correspondences.
calculate 3D transformation based on point correspondencdes
Parameters & getParameters()
Get a reference to the parameters struct.
Eigen::Affine3f transformation
The estimated transformation between the two coordinate systems.
bool operator()(const PoseEstimate &pe1, const PoseEstimate &pe2) const
float max_correspondence_distance_error
std::vector< PoseEstimate, Eigen::aligned_allocator< PoseEstimate > > PoseEstimatesVector