Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 */ 00036 #ifndef PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_ 00037 #define PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_ 00038 00039 #include <pcl/registration/correspondence_types.h> 00040 00041 namespace pcl 00042 { 00043 namespace registration 00044 { 00049 struct sortCorrespondencesByQueryIndex : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool> 00050 { 00051 bool operator()( pcl::Correspondence a, pcl::Correspondence b) 00052 { 00053 return (a.index_query < b.index_query); 00054 } 00055 }; 00056 00061 struct sortCorrespondencesByMatchIndex : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool> 00062 { 00063 bool operator()( pcl::Correspondence a, pcl::Correspondence b) 00064 { 00065 return (a.index_match < b.index_match); 00066 } 00067 }; 00068 00073 struct sortCorrespondencesByDistance : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool> 00074 { 00075 bool operator()( pcl::Correspondence a, pcl::Correspondence b) 00076 { 00077 return (a.distance < b.distance); 00078 } 00079 }; 00080 00085 struct sortCorrespondencesByQueryIndexAndDistance : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool> 00086 { 00087 bool operator()( pcl::Correspondence a, pcl::Correspondence b) 00088 { 00089 if (a.index_query < b.index_query) 00090 return true; 00091 else if ( (a.index_query == b.index_query) && (a.distance < b.distance) ) 00092 return true; 00093 return false; 00094 } 00095 }; 00096 00101 struct sortCorrespondencesByMatchIndexAndDistance : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool> 00102 { 00103 bool operator()( pcl::Correspondence a, pcl::Correspondence b) 00104 { 00105 if (a.index_match < b.index_match) 00106 return true; 00107 else if ( (a.index_match == b.index_match) && (a.distance < b.distance) ) 00108 return true; 00109 return false; 00110 } 00111 }; 00112 00113 } 00114 } 00115 00116 #endif /* PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_ */