Point Cloud Library (PCL)
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include
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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* * 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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*
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* $Id$
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*
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*/
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#ifndef PCL_EDGE_MEASUREMENTS_H_
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#define PCL_EDGE_MEASUREMENTS_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 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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{};
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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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{
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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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PoseMeasurement
(
const
VertexT& v_s,
const
VertexT& v_e,
const
Eigen::Matrix4f& tr,
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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}
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#endif // PCL_EDGE_MEASUREMENTS_H_
pcl::registration::PoseMeasurement
PoseMeasurement struct
Definition:
edge_measurements.h:60
pcl::registration::PoseMeasurement::information_matrix
InformationT information_matrix
Definition:
edge_measurements.h:64
pcl::registration::PoseMeasurement::v_start
VertexT v_start
Definition:
edge_measurements.h:62
pcl
Definition:
cloud_iterator.h:46
pcl::registration::PoseMeasurement::relative_transformation
Eigen::Matrix4f relative_transformation
Definition:
edge_measurements.h:63
pcl::registration::NullMeasurement
NullMeasurement struct
Definition:
edge_measurements.h:52
pcl::registration::PoseMeasurement::PoseMeasurement
PoseMeasurement(const VertexT &v_s, const VertexT &v_e, const Eigen::Matrix4f &tr, const InformationT &mtx)
Definition:
edge_measurements.h:66
pcl::registration::PoseMeasurement::v_end
VertexT v_end
Definition:
edge_measurements.h:62