Point Cloud Library (PCL)  1.7.1
correspondence_sorting.h
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40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_
42 
43 #if defined __GNUC__
44 # pragma GCC system_header
45 #endif
46 
47 #include <pcl/registration/correspondence_types.h>
48 
49 namespace pcl
50 {
51  namespace registration
52  {
53  /** @b sortCorrespondencesByQueryIndex : a functor for sorting correspondences by query index
54  * \author Dirk Holz
55  * \ingroup registration
56  */
57  struct sortCorrespondencesByQueryIndex : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool>
58  {
59  bool
61  {
62  return (a.index_query < b.index_query);
63  }
64  };
65 
66  /** @b sortCorrespondencesByMatchIndex : a functor for sorting correspondences by match index
67  * \author Dirk Holz
68  * \ingroup registration
69  */
70  struct sortCorrespondencesByMatchIndex : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool>
71  {
72  bool
74  {
75  return (a.index_match < b.index_match);
76  }
77  };
78 
79  /** @b sortCorrespondencesByDistance : a functor for sorting correspondences by distance
80  * \author Dirk Holz
81  * \ingroup registration
82  */
83  struct sortCorrespondencesByDistance : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool>
84  {
85  bool
87  {
88  return (a.distance < b.distance);
89  }
90  };
91 
92  /** @b sortCorrespondencesByQueryIndexAndDistance : a functor for sorting correspondences by query index _and_ distance
93  * \author Dirk Holz
94  * \ingroup registration
95  */
96  struct sortCorrespondencesByQueryIndexAndDistance : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool>
97  {
98  inline bool
100  {
101  if (a.index_query < b.index_query)
102  return (true);
103  else if ( (a.index_query == b.index_query) && (a.distance < b.distance) )
104  return (true);
105  return (false);
106  }
107  };
108 
109  /** @b sortCorrespondencesByMatchIndexAndDistance : a functor for sorting correspondences by match index _and_ distance
110  * \author Dirk Holz
111  * \ingroup registration
112  */
113  struct sortCorrespondencesByMatchIndexAndDistance : public std::binary_function<pcl::Correspondence, pcl::Correspondence, bool>
114  {
115  inline bool
117  {
118  if (a.index_match < b.index_match)
119  return (true);
120  else if ( (a.index_match == b.index_match) && (a.distance < b.distance) )
121  return (true);
122  return (false);
123  }
124  };
125 
126  }
127 }
128 
129 #endif /* PCL_REGISTRATION_CORRESPONDENCE_SORTING_H_ */
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
sortCorrespondencesByQueryIndex : a functor for sorting correspondences by query index ...
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
sortCorrespondencesByMatchIndexAndDistance : a functor for sorting correspondences by match index and...
int index_match
Index of the matching (target) point.
int index_query
Index of the query (source) point.
bool operator()(pcl::Correspondence a, pcl::Correspondence b)
Correspondence represents a match between two entities (e.g., points, descriptors, etc).
sortCorrespondencesByMatchIndex : a functor for sorting correspondences by match index ...
sortCorrespondencesByQueryIndexAndDistance : a functor for sorting correspondences by query index and...
sortCorrespondencesByDistance : a functor for sorting correspondences by distance ...
bool operator()(pcl::Correspondence a, pcl::Correspondence b)