vertex_estimates.h

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#pragma once
 
#include <pcl/point_cloud.h>
 
namespace pcl {
namespace registration {
/** \brief @b NullEstimate struct
 * \author Nicola Fioraio
 * \ingroup registration
 */
struct NullEstimate {};
 
/** \brief @b PoseEstimate struct
 * \author Nicola Fioraio
 * \ingroup registration
 */
template <typename PointT>
struct PoseEstimate {
  Eigen::Matrix4f pose;
  typename pcl::PointCloud<PointT>::ConstPtr cloud;
 
  PoseEstimate(const Eigen::Matrix4f& p = Eigen::Matrix4f::Identity(),
               const typename pcl::PointCloud<PointT>::ConstPtr& c =
                   typename pcl::PointCloud<PointT>::ConstPtr())
  : pose(p), cloud(c)
  {}
 
  PCL_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace registration
} // namespace pcl