edge_measurements.h
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#pragma once
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
namespace pcl {
namespace registration {
/** \brief @b NullMeasurement struct
* \author Nicola Fioraio
* \ingroup registration
*/
struct NullMeasurement {};
/** \brief @b PoseMeasurement struct
* \author Nicola Fioraio
* \ingroup registration
*/
template <typename VertexT, typename InformationT>
struct PoseMeasurement {
VertexT v_start, v_end;
Eigen::Matrix4f relative_transformation;
InformationT information_matrix;
PCL_MAKE_ALIGNED_OPERATOR_NEW
PoseMeasurement(const VertexT& v_s,
const VertexT& v_e,
const Eigen::Matrix4f& tr,
const InformationT& mtx)
: v_start(v_s), v_end(v_e), relative_transformation(tr), information_matrix(mtx)
{}
};
} // namespace registration
} // namespace pcl
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition: convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl::registration::NullMeasurement
NullMeasurement struct
Definition: edge_measurements.h:52
pcl::registration::PoseMeasurement
PoseMeasurement struct
Definition: edge_measurements.h:59
pcl::registration::PoseMeasurement::v_end
VertexT v_end
Definition: edge_measurements.h:60
pcl::registration::PoseMeasurement::information_matrix
InformationT information_matrix
Definition: edge_measurements.h:62
pcl::registration::PoseMeasurement::PoseMeasurement
PCL_MAKE_ALIGNED_OPERATOR_NEW PoseMeasurement(const VertexT &v_s, const VertexT &v_e, const Eigen::Matrix4f &tr, const InformationT &mtx)
Definition: edge_measurements.h:65
pcl::registration::PoseMeasurement::v_start
VertexT v_start
Definition: edge_measurements.h:60
pcl::registration::PoseMeasurement::relative_transformation
Eigen::Matrix4f relative_transformation
Definition: edge_measurements.h:61