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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_02fe799643ef17d8aa92a466d371d870.html">pcl</a></li> </ul>
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<div class="title">pcl_point.hpp</div> </div>
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<a href="pcl__point_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <pcl/point_types.h></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  </div>
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<div class="line"><a name="l00007"></a><span class="lineno"><a class="line" href="namespacepcl.html"> 7</a></span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
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<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="namespacepcl.html#a168f78b5c5b61aef41e1c0105079a7a0"> 9</a></span> <span class="keyword">using</span> <a class="code" href="namespacepcl.html#a168f78b5c5b61aef41e1c0105079a7a0">Matrix4fMap</a> = Eigen::Map<Eigen::Matrix4f, Eigen::Aligned>;</div>
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<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="namespacepcl.html#a3e57d0657fe841eb124fd52ce05029fc"> 10</a></span> <span class="keyword">using</span> <a class="code" href="namespacepcl.html#a3e57d0657fe841eb124fd52ce05029fc">Matrix4fMapConst</a> = <span class="keyword">const</span> Eigen::Map<const Eigen::Matrix4f, Eigen::Aligned>;</div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
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<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structpcl_1_1PointCovariance.html"> 13</a></span> <span class="keyword">struct </span><a class="code" href="structpcl_1_1PointCovariance.html">PointCovariance</a> {</div>
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<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structpcl_1_1PointCovariance.html#afc3903f858e78e5e71fed11a3640fee3"> 14</a></span>  <a class="code" href="structpcl_1_1PointCovariance.html#afc3903f858e78e5e71fed11a3640fee3">PCL_ADD_POINT4D</a>; </div>
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<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structpcl_1_1PointCovariance.html#a764508e7236657fc23ee4cdf336ac24c"> 15</a></span>  Eigen::Matrix4f <a class="code" href="structpcl_1_1PointCovariance.html#a764508e7236657fc23ee4cdf336ac24c">cov</a>; </div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
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<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="structpcl_1_1PointCovariance.html#a1c9f1b0ff9a3640eab161f65e79291ed"> 18</a></span>  <a class="code" href="namespacepcl.html#a168f78b5c5b61aef41e1c0105079a7a0">Matrix4fMap</a> <a class="code" href="structpcl_1_1PointCovariance.html#a1c9f1b0ff9a3640eab161f65e79291ed">getCovariance4fMap</a>() { <span class="keywordflow">return</span> <a class="code" href="namespacepcl.html#a168f78b5c5b61aef41e1c0105079a7a0">Matrix4fMap</a>(<a class="code" href="structpcl_1_1PointCovariance.html#a764508e7236657fc23ee4cdf336ac24c">cov</a>.data()); }</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structpcl_1_1PointCovariance.html#a0e3a059742d9b5f965afa1f8bfa451e1"> 21</a></span>  <a class="code" href="namespacepcl.html#a3e57d0657fe841eb124fd52ce05029fc">Matrix4fMapConst</a> <a class="code" href="structpcl_1_1PointCovariance.html#a0e3a059742d9b5f965afa1f8bfa451e1">getCovariance4fMap</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="namespacepcl.html#a3e57d0657fe841eb124fd52ce05029fc">Matrix4fMapConst</a>(<a class="code" href="structpcl_1_1PointCovariance.html#a764508e7236657fc23ee4cdf336ac24c">cov</a>.data()); }</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  PCL_MAKE_ALIGNED_OPERATOR_NEW</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> };</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
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<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structpcl_1_1PointNormalCovariance.html"> 27</a></span> <span class="keyword">struct </span><a class="code" href="structpcl_1_1PointNormalCovariance.html">PointNormalCovariance</a> {</div>
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<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structpcl_1_1PointNormalCovariance.html#a0cee47263bfd3a41618afd857c414dd3"> 28</a></span>  <a class="code" href="structpcl_1_1PointNormalCovariance.html#a0cee47263bfd3a41618afd857c414dd3">PCL_ADD_POINT4D</a>; </div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  PCL_ADD_NORMAL4D </div>
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<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structpcl_1_1PointNormalCovariance.html#a25a4ea91d83379f54f711a7fa5e13f8f"> 30</a></span>  Eigen::Matrix4f <a class="code" href="structpcl_1_1PointNormalCovariance.html#a25a4ea91d83379f54f711a7fa5e13f8f">cov</a>; </div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
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<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structpcl_1_1PointNormalCovariance.html#afc8272652f9536db71bbc9677798343a"> 33</a></span>  <a class="code" href="namespacepcl.html#a168f78b5c5b61aef41e1c0105079a7a0">Matrix4fMap</a> <a class="code" href="structpcl_1_1PointNormalCovariance.html#afc8272652f9536db71bbc9677798343a">getCovariance4fMap</a>() { <span class="keywordflow">return</span> <a class="code" href="namespacepcl.html#a168f78b5c5b61aef41e1c0105079a7a0">Matrix4fMap</a>(<a class="code" href="structpcl_1_1PointNormalCovariance.html#a25a4ea91d83379f54f711a7fa5e13f8f">cov</a>.data()); }</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
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<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structpcl_1_1PointNormalCovariance.html#a239884134d7f7043107fb868a0a8801d"> 36</a></span>  <a class="code" href="namespacepcl.html#a3e57d0657fe841eb124fd52ce05029fc">Matrix4fMapConst</a> <a class="code" href="structpcl_1_1PointNormalCovariance.html#a239884134d7f7043107fb868a0a8801d">getCovariance4fMap</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="namespacepcl.html#a3e57d0657fe841eb124fd52ce05029fc">Matrix4fMapConst</a>(<a class="code" href="structpcl_1_1PointNormalCovariance.html#a25a4ea91d83379f54f711a7fa5e13f8f">cov</a>.data()); }</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  PCL_MAKE_ALIGNED_OPERATOR_NEW</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> };</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> } <span class="comment">// namespace pcl</span></div>
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<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:7</div></div>
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<div class="ttc" id="anamespacepcl_html_a168f78b5c5b61aef41e1c0105079a7a0"><div class="ttname"><a href="namespacepcl.html#a168f78b5c5b61aef41e1c0105079a7a0">pcl::Matrix4fMap</a></div><div class="ttdeci">Eigen::Map< Eigen::Matrix4f, Eigen::Aligned > Matrix4fMap</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:9</div></div>
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<div class="ttc" id="anamespacepcl_html_a3e57d0657fe841eb124fd52ce05029fc"><div class="ttname"><a href="namespacepcl.html#a3e57d0657fe841eb124fd52ce05029fc">pcl::Matrix4fMapConst</a></div><div class="ttdeci">const Eigen::Map< const Eigen::Matrix4f, Eigen::Aligned > Matrix4fMapConst</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:10</div></div>
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<div class="ttc" id="astructpcl_1_1PointCovariance_html"><div class="ttname"><a href="structpcl_1_1PointCovariance.html">pcl::PointCovariance</a></div><div class="ttdoc">Point with covariance for PCL.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:13</div></div>
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<div class="ttc" id="astructpcl_1_1PointCovariance_html_a0e3a059742d9b5f965afa1f8bfa451e1"><div class="ttname"><a href="structpcl_1_1PointCovariance.html#a0e3a059742d9b5f965afa1f8bfa451e1">pcl::PointCovariance::getCovariance4fMap</a></div><div class="ttdeci">Matrix4fMapConst getCovariance4fMap() const</div><div class="ttdoc">Get covariance matrix as Matrix4fMapConst.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:21</div></div>
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<div class="ttc" id="astructpcl_1_1PointCovariance_html_a1c9f1b0ff9a3640eab161f65e79291ed"><div class="ttname"><a href="structpcl_1_1PointCovariance.html#a1c9f1b0ff9a3640eab161f65e79291ed">pcl::PointCovariance::getCovariance4fMap</a></div><div class="ttdeci">Matrix4fMap getCovariance4fMap()</div><div class="ttdoc">Get covariance matrix as Matrix4fMap.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:18</div></div>
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<div class="ttc" id="astructpcl_1_1PointCovariance_html_a764508e7236657fc23ee4cdf336ac24c"><div class="ttname"><a href="structpcl_1_1PointCovariance.html#a764508e7236657fc23ee4cdf336ac24c">pcl::PointCovariance::cov</a></div><div class="ttdeci">Eigen::Matrix4f cov</div><div class="ttdoc">4x4 covariance matrix</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:15</div></div>
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<div class="ttc" id="astructpcl_1_1PointCovariance_html_afc3903f858e78e5e71fed11a3640fee3"><div class="ttname"><a href="structpcl_1_1PointCovariance.html#afc3903f858e78e5e71fed11a3640fee3">pcl::PointCovariance::PCL_ADD_POINT4D</a></div><div class="ttdeci">PCL_ADD_POINT4D</div><div class="ttdoc">Point coordinates.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:14</div></div>
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<div class="ttc" id="astructpcl_1_1PointNormalCovariance_html"><div class="ttname"><a href="structpcl_1_1PointNormalCovariance.html">pcl::PointNormalCovariance</a></div><div class="ttdoc">Point with normal and covariance for PCL.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:27</div></div>
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<div class="ttc" id="astructpcl_1_1PointNormalCovariance_html_a0cee47263bfd3a41618afd857c414dd3"><div class="ttname"><a href="structpcl_1_1PointNormalCovariance.html#a0cee47263bfd3a41618afd857c414dd3">pcl::PointNormalCovariance::PCL_ADD_POINT4D</a></div><div class="ttdeci">PCL_ADD_POINT4D</div><div class="ttdoc">Point coordinates.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:28</div></div>
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<div class="ttc" id="astructpcl_1_1PointNormalCovariance_html_a239884134d7f7043107fb868a0a8801d"><div class="ttname"><a href="structpcl_1_1PointNormalCovariance.html#a239884134d7f7043107fb868a0a8801d">pcl::PointNormalCovariance::getCovariance4fMap</a></div><div class="ttdeci">Matrix4fMapConst getCovariance4fMap() const</div><div class="ttdoc">Get covariance matrix as Matrix4fMapConst.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:36</div></div>
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<div class="ttc" id="astructpcl_1_1PointNormalCovariance_html_a25a4ea91d83379f54f711a7fa5e13f8f"><div class="ttname"><a href="structpcl_1_1PointNormalCovariance.html#a25a4ea91d83379f54f711a7fa5e13f8f">pcl::PointNormalCovariance::cov</a></div><div class="ttdeci">PCL_ADD_NORMAL4D Eigen::Matrix4f cov</div><div class="ttdoc">< Point normal</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:30</div></div>
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<div class="ttc" id="astructpcl_1_1PointNormalCovariance_html_afc8272652f9536db71bbc9677798343a"><div class="ttname"><a href="structpcl_1_1PointNormalCovariance.html#afc8272652f9536db71bbc9677798343a">pcl::PointNormalCovariance::getCovariance4fMap</a></div><div class="ttdeci">Matrix4fMap getCovariance4fMap()</div><div class="ttdoc">Get covariance matrix as Matrix4fMap.</div><div class="ttdef"><b>Definition:</b> pcl_point.hpp:33</div></div>
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