pcl_point.hpp

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// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide
// SPDX-License-Identifier: MIT
#pragma once
 
#include <pcl/point_types.h>
 
namespace pcl {
 
using Matrix4fMap = Eigen::Map<Eigen::Matrix4f, Eigen::Aligned>;
using Matrix4fMapConst = const Eigen::Map<const Eigen::Matrix4f, Eigen::Aligned>;
 
struct PointCovariance {
  PCL_ADD_POINT4D;        
  Eigen::Matrix4f cov;    
 
  Matrix4fMap getCovariance4fMap() { return Matrix4fMap(cov.data()); }
 
  Matrix4fMapConst getCovariance4fMap() const { return Matrix4fMapConst(cov.data()); }
 
  PCL_MAKE_ALIGNED_OPERATOR_NEW
};
 
struct PointNormalCovariance {
  PCL_ADD_POINT4D;      
  PCL_ADD_NORMAL4D      
  Eigen::Matrix4f cov;  
 
  Matrix4fMap getCovariance4fMap() { return Matrix4fMap(cov.data()); }
 
  Matrix4fMapConst getCovariance4fMap() const { return Matrix4fMapConst(cov.data()); }
 
  PCL_MAKE_ALIGNED_OPERATOR_NEW
};
 
}  // namespace pcl