Point Cloud Library (PCL)  1.12.1-dev
vertex_estimates.h
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40 
41 #pragma once
42 
43 #include <pcl/point_cloud.h>
44 
45 namespace pcl {
46 namespace registration {
47 /** \brief @b NullEstimate struct
48  * \author Nicola Fioraio
49  * \ingroup registration
50  */
51 struct NullEstimate {};
52 
53 /** \brief @b PoseEstimate struct
54  * \author Nicola Fioraio
55  * \ingroup registration
56  */
57 template <typename PointT>
58 struct PoseEstimate {
59  Eigen::Matrix4f pose;
61 
62  PoseEstimate(const Eigen::Matrix4f& p = Eigen::Matrix4f::Identity(),
63  const typename pcl::PointCloud<PointT>::ConstPtr& c =
65  : pose(p), cloud(c)
66  {}
67 
69 };
70 } // namespace registration
71 } // namespace pcl
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
PoseEstimate(const Eigen::Matrix4f &p=Eigen::Matrix4f::Identity(), const typename pcl::PointCloud< PointT >::ConstPtr &c=typename pcl::PointCloud< PointT >::ConstPtr())
pcl::PointCloud< PointT >::ConstPtr cloud