40 #include <pcl/memory.h>
41 #include <pcl/pcl_macros.h>
42 #include <pcl/registration/registration.h>
43 #include <pcl/common/common.h>
47 namespace registration
88 using MatchingCandidates = std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate> >;
float fitness_score
Fitness score of current candidate resulting from matching algorithm.
Eigen::Matrix4f transformation
Corresponding transformation matrix retrieved using corrs.
Sorting of candidates based on fitness score value.
Container for matching candidate consisting of.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
~MatchingCandidate()
Destructor.
MatchingCandidate(float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m)
Value constructor.
pcl::Correspondences correspondences
Correspondences between source <-> target.
bool operator()(MatchingCandidate const &left, MatchingCandidate const &right)
Operator used to sort candidates based on fitness score.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
MatchingCandidate()
Constructor.