region_3d.h

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#pragma once
 
#include <Eigen/Core>
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
 
namespace pcl
{
  /** \brief Region3D represents summary statistics of a 3D collection of points.
    * \author Alex Trevor
    */
  template <typename PointT>
  class Region3D
  {
    public:
      /** \brief Empty constructor for Region3D. */
      Region3D () : centroid_ (Eigen::Vector3f::Zero ()), covariance_ (Eigen::Matrix3f::Identity ()), count_ (0)
      {
      }
 
      /** \brief Constructor for Region3D.
        * \param[in] centroid The centroid of the region.
        * \param[in] covariance The covariance of the region.
        * \param[in] count The number of points in the region.
        */
      Region3D (Eigen::Vector3f& centroid, Eigen::Matrix3f& covariance, unsigned count)
        : centroid_ (centroid), covariance_ (covariance), count_ (count)
      {
      }
 
      /** \brief Destructor. */
      virtual ~Region3D () = default;
 
      /** \brief Get the centroid of the region. */
      inline Eigen::Vector3f
      getCentroid () const
      {
        return (centroid_);
      }
 
      /** \brief Get the covariance of the region. */
      inline Eigen::Matrix3f
      getCovariance () const
      {
        return (covariance_);
      }
 
      /** \brief Get the number of points in the region. */
      unsigned
      getCount () const
      {
        return (count_);
      }
 
      /** \brief Get the curvature of the region. */
      float
      getCurvature () const
      {
        return (curvature_);
      }
 
      /** \brief Set the curvature of the region. */
      void
      setCurvature (float curvature)
      {
        curvature_ = curvature;
      }
 
    protected:
      /** \brief The centroid of the region. */
      Eigen::Vector3f centroid_;
 
      /** \brief The covariance of the region. */
      Eigen::Matrix3f covariance_;
 
      /** \brief The number of points in the region. */
      unsigned count_;
 
      /** \brief The mean curvature of the region. */
      float curvature_{0.0f};
 
    public:
      PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
}