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