mirror of https://github.com/koide3/small_gicp.git
32 lines
808 B
C++
32 lines
808 B
C++
#pragma once
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#include <pcl/point_types.h>
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namespace pcl {
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using Matrix4fMap = Eigen::Map<Eigen::Matrix4f, Eigen::Aligned>;
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using Matrix4fMapConst = const Eigen::Map<const Eigen::Matrix4f, Eigen::Aligned>;
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struct EIGEN_ALIGN16 PointCovariance {
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PCL_ADD_POINT4D;
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Eigen::Matrix4f cov;
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Matrix4fMap getCovariance4fMap() { return Matrix4fMap(cov.data()); }
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Matrix4fMapConst getCovariance4fMap() const { return Matrix4fMapConst(cov.data()); }
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct EIGEN_ALIGN16 PointNormalCovariance {
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PCL_ADD_POINT4D;
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PCL_ADD_NORMAL4D
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Eigen::Matrix4f cov;
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Matrix4fMap getCovariance4fMap() { return Matrix4fMap(cov.data()); }
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Matrix4fMapConst getCovariance4fMap() const { return Matrix4fMapConst(cov.data()); }
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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} // namespace pcl
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