Quadrotor

/* 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 <http://www.gnu.org/licenses/>.

 */

#ifndef MATCHING_RESULT_H

#define MATCHING_RESULT_H

#include <opencv2/features2d/features2d.hpp>

#include <Eigen/Core>

#include "edge.h"

class MatchingResult {

    public:

        MatchingResult() : rmse(0.0) {

            edge.id1 = edge.id2 = -1;

        }

        std::vector<cv::DMatch> inlier_matches;

        std::vector<cv::DMatch> 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