SurfacePatch.h

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#ifndef SURFACEPATCH_H_
#define SURFACEPATCH_H_

#include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 #include <pcl/io/pcd_io.h>

 struct EIGEN_ALIGN16 SurfacePatch
 {
   PCL_ADD_POINT4D; // This adds the members x,y,z which can also be accessed using the point (which is float[4])
   PCL_ADD_NORMAL4D; // This adds the member normal[3] which can also be accessed using the point (which is float[4])
   EIGEN_ALIGN16
   union {
       float data_s[4];
       struct {
         float scale_x;
         float scale_y;
         float scale_z;
       };
   };
   EIGEN_ALIGN16
   union {
       float data_std[4];
       float std_dev_z;
   };
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 inline std::ostream& operator << (std::ostream& os, const SurfacePatch& p)
 {
   os << "(" << p.x << "," << p.y << "," << p.z << " - " << p.normal[0] << "," << p.normal[1] << "," << p.normal[2] << " - " << p.scale_x << "," << p.scale_y << "," << p.scale_z << "," << p.std_dev_z << "," << ")";
   return (os);
 }
 POINT_CLOUD_REGISTER_POINT_STRUCT (SurfacePatch,           // here we assume a XYZ + "test" (as fields)
                                    (float, x, x)
                                    (float, y, y)
                                    (float, z, z)
                                    (float, normal_x, normal_x)
                                    (float, normal_y, normal_y)
                                    (float, normal_z, normal_z)
                                    (float, scale_x, scale_x)
                                    (float, scale_y, scale_y)
                                    (float, scale_z, scale_z)
                                    (float, std_dev_z, std_dev_z))

#endif /* SURFACEPATCH_H_ */