point_plane_pair_t.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/plane_patch.h>
#include <mrpt/math/TPoint3D.h>
#include <mrpt/typemeta/TTypeName.h>
 
#include <vector>
 
namespace mp2p_icp
{
struct point_plane_pair_t
{
    plane_patch_t         pl_global;
    mrpt::math::TPoint3Df pt_local;
 
    point_plane_pair_t() = default;
    point_plane_pair_t(
        const plane_patch_t& p_global, const mrpt::math::TPoint3Df& p_local)
        : pl_global(p_global), pt_local(p_local)
    {
    }
 
    DECLARE_TTYPENAME_CLASSNAME(mp2p_icp::point_plane_pair_t)
};
using MatchedPointPlaneList = std::vector<point_plane_pair_t>;
 
}  // namespace mp2p_icp