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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