Point Cloud Library (PCL)
1.9.1
registration
include
pcl
registration
vertex_estimates.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#ifndef PCL_VERTEX_ESTIMATES_H_
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#define PCL_VERTEX_ESTIMATES_H_
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#include <pcl/point_cloud.h>
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namespace
pcl
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{
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namespace
registration
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{
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/** \brief @b NullEstimate struct
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* \author Nicola Fioraio
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* \ingroup registration
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*/
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struct
NullEstimate
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{};
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/** \brief @b PoseEstimate struct
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* \author Nicola Fioraio
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* \ingroup registration
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*/
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template
<
typename
Po
int
T>
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struct
PoseEstimate
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{
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Eigen::Matrix4f
pose
;
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typename
pcl::PointCloud<PointT>::ConstPtr
cloud
;
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PoseEstimate
(
const
Eigen::Matrix4f& p = Eigen::Matrix4f::Identity(),
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const
typename
pcl::PointCloud<PointT>::ConstPtr
& c =
typename
pcl::PointCloud<PointT>::ConstPtr
())
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:
pose
(p),
cloud
(c) {}
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};
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}
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}
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#endif // PCL_VERTEX_ESTIMATES_H_
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition:
convolution.h:45
pcl::registration::PoseEstimate
PoseEstimate struct
Definition:
vertex_estimates.h:62
pcl::registration::PoseEstimate::cloud
pcl::PointCloud< PointT >::ConstPtr cloud
Definition:
vertex_estimates.h:65
pcl::registration::NullEstimate
NullEstimate struct
Definition:
vertex_estimates.h:54
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:67
pcl::registration::PoseEstimate::pose
Eigen::Matrix4f pose
Definition:
vertex_estimates.h:64
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition:
point_cloud.h:429