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vertex_estimates.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
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* modification, are permitted provided that the following conditions
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* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
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* from this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id$
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*/
#pragma once
#include <pcl/point_cloud.h>
namespace pcl {
namespace registration {
/** \brief @b NullEstimate struct
* \author Nicola Fioraio
* \ingroup registration
*/
struct NullEstimate {};
/** \brief @b PoseEstimate struct
* \author Nicola Fioraio
* \ingroup registration
*/
template <typename PointT>
struct PoseEstimate {
Eigen::Matrix4f pose;
typename pcl::PointCloud<PointT>::ConstPtr cloud;
PoseEstimate(const Eigen::Matrix4f& p = Eigen::Matrix4f::Identity(),
const typename pcl::PointCloud<PointT>::ConstPtr& c =
typename pcl::PointCloud<PointT>::ConstPtr())
: pose(p), cloud(c)
{}
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace registration
} // namespace pcl
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:414
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
pcl
Definition convolution.h:46
pcl::registration::NullEstimate
NullEstimate struct
Definition vertex_estimates.h:51
pcl::registration::PoseEstimate
PoseEstimate struct
Definition vertex_estimates.h:58
pcl::registration::PoseEstimate::PoseEstimate
PoseEstimate(const Eigen::Matrix4f &p=Eigen::Matrix4f::Identity(), const typename pcl::PointCloud< PointT >::ConstPtr &c=typename pcl::PointCloud< PointT >::ConstPtr())
Definition vertex_estimates.h:62
pcl::registration::PoseEstimate::cloud
pcl::PointCloud< PointT >::ConstPtr cloud
Definition vertex_estimates.h:60
pcl::registration::PoseEstimate::pose
Eigen::Matrix4f pose
Definition vertex_estimates.h:59