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