root / rgbdslam / gicp / scan.h @ 9240aaa3
History | View | Annotate | Download (2.63 KB)
1 | 9240aaa3 | Alex | /*************************************************************
|
---|---|---|---|
2 | Generalized-ICP Copyright (c) 2009 Aleksandr Segal.
|
||
3 | All rights reserved.
|
||
4 | |||
5 | Redistribution and use in source and binary forms, with
|
||
6 | or without modification, are permitted provided that the
|
||
7 | following conditions are met:
|
||
8 | |||
9 | * Redistributions of source code must retain the above
|
||
10 | copyright notice, this list of conditions and the
|
||
11 | following disclaimer.
|
||
12 | * Redistributions in binary form must reproduce the above
|
||
13 | copyright notice, this list of conditions and the
|
||
14 | following disclaimer in the documentation and/or other
|
||
15 | materials provided with the distribution.
|
||
16 | * The names of the contributors may not be used to endorse
|
||
17 | or promote products derived from this software
|
||
18 | without specific prior written permission.
|
||
19 | |||
20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
|
||
21 | CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
|
||
22 | WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||
23 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
||
24 | PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
25 | COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
|
||
26 | INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||
27 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||
28 | PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||
29 | DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||
30 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||
31 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
|
||
32 | OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||
33 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
|
||
34 | DAMAGE.
|
||
35 | *************************************************************/
|
||
36 | |||
37 | |||
38 | |||
39 | #ifndef __SCAN_H
|
||
40 | #define __SCAN_H
|
||
41 | |||
42 | #include <vector> |
||
43 | |||
44 | typedef struct { |
||
45 | double mat[3][3]; // 36 bytes, row major |
||
46 | int transpose; // 4 |
||
47 | int symmetric; // 4 |
||
48 | int diagonal; // 4 |
||
49 | } dgc_matrix3d_t; // = 48 bytes per matrix
|
||
50 | |||
51 | typedef struct { |
||
52 | double vec[3]; // 12 bytes |
||
53 | } dgc_vector3d_c_t; // 16 bytes per vector
|
||
54 | |||
55 | typedef struct { |
||
56 | double vec[3]; // 12 bytes |
||
57 | } dgc_vector3d_r_t; // 16 bytes per vector
|
||
58 | |||
59 | typedef struct { |
||
60 | double x;
|
||
61 | double y;
|
||
62 | double z;
|
||
63 | double roll;
|
||
64 | double pitch;
|
||
65 | double yaw;
|
||
66 | } dgc_pose_t, * dgc_pose_p; |
||
67 | |||
68 | class dgc_scan_t { |
||
69 | public:
|
||
70 | std::vector<dgc_vector3d_c_t> points; |
||
71 | std::vector<dgc_vector3d_c_t> norms; |
||
72 | dgc_pose_t pose; |
||
73 | |||
74 | int save(const char* filename); |
||
75 | int load(const char *filename); |
||
76 | }; |
||
77 | |||
78 | |||
79 | |||
80 | #endif |