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