root / rgbdslam / src / matching_result.h @ 9240aaa3
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/* This file is part of RGBDSLAM.
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*
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* RGBDSLAM is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RGBDSLAM is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MATCHING_RESULT_H
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#define MATCHING_RESULT_H
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#include <opencv2/features2d/features2d.hpp> |
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#include <Eigen/Core> |
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#include "edge.h" |
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class MatchingResult { |
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public:
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MatchingResult() : rmse(0.0) { |
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edge.id1 = edge.id2 = -1;
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} |
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std::vector<cv::DMatch> inlier_matches; |
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std::vector<cv::DMatch> all_matches; |
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LoadedEdge3D edge; |
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float rmse;
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Eigen::Matrix4f ransac_trafo; |
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Eigen::Matrix4f icp_trafo; |
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Eigen::Matrix4f final_trafo; |
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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}; |
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#endif
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