KCP
An efficient and effective 3D laser scan matching
common.hpp
1 // Copyright 2021 Yu-Kai Lin. All rights reserved.
2 // Use of this source code is governed by a BSD-style
3 // license that can be found in the LICENSE file.
4 
5 #pragma once
6 
7 #include <Eigen/Dense>
8 
9 #include <vector>
10 
15 namespace kcp {
16 
21 struct Correspondences {
27  std::pair<Eigen::Matrix3Xd, Eigen::Matrix3Xd> points;
28 
34  std::pair<std::vector<int>, std::vector<int>> indices;
35 };
36 
37 }; // namespace kcp
kcp
Namespace for the KCP library.
Definition: common.hpp:15
kcp::Correspondences
Data structure for point correspondences.
Definition: common.hpp:21
kcp::Correspondences::points
std::pair< Eigen::Matrix3Xd, Eigen::Matrix3Xd > points
Correspondences in terms of position, where the first and the second parts correspond to the source a...
Definition: common.hpp:27
kcp::Correspondences::indices
std::pair< std::vector< int >, std::vector< int > > indices
Correspondences in terms of point indices, where the first and the second parts correspond to the sou...
Definition: common.hpp:34