iLab Neuromorphic Robotics Toolkit  0.1
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Correspondence.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
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23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_COMMON_CORRESPONDENCE_H
37 #define INCLUDE_NRT_POINTCLOUD2_COMMON_CORRESPONDENCE_H
38 
41 
42 namespace nrt
43 {
44  /*! @defgroup pointcloudcorrespondence Correspondence Representation
45 
46  Useful structs and functions for representing correspondence between
47  two points in a cloud
48  @ingroup pointcloudcommon */
49 
50  //! A struct for representing correspondence between two points
51  /*! @ingroup pointcloudcorrespondence */
53  {
54  //! Index of a point in the source cloud
56  //! Index of a point in the target cloud
58 
59  //! Some scoring metric such as distance or weight between the matches
60  float score;
61 
62  //! Default initialization
64 
65  //! Initialize with a correspondence
66  Correspondence( int sourceIdx, int targetIdx, float score_ );
67 
68  //! Equality operator
69  /*! Equal if source and target indices are the same */
70  bool operator==( Correspondence const & other ) const;
71 
72  //! Comparison operator
73  /*! First compares on source then on target if sources are equal */
74  bool operator<( Correspondence const & other ) const;
75  }; // struct correspondenc
76 
77  //! Convenience typedef for a group of correspondences
78  /*! @relates Correspondence
79  @ingroup pointcloudcorrespondence */
81 
82  //! Gets the set of indices corresponding to the source cloud
83  /*! @relates Correspondence
84  @ingroup pointcloudcorrespondence */
85  Indices getSourceIndices( Correspondences const correspondences );
86 
87  //! Gets the set of indices corresponding to the target cloud
88  /*! @relates Correspondence
89  @ingroup pointcloudcorrespondence */
90  Indices getTargetIndices( Correspondences const correspondences );
91 } // namespace nrt
92 
93 #endif // INCLUDE_NRT_POINTCLOUD2_COMMON_CORRESPONDENCE_H
94 #endif // NRT_HAVE_CLOUD