region_3d.h

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#ifndef PCL_SEGMENTATION_REGION_3D_H_
#define PCL_SEGMENTATION_REGION_3D_H_

#include <Eigen/Core>
#include <vector>

namespace pcl
{
  template <typename PointT>
  class Region3D
  {
    public:
      Region3D () : centroid_ (Eigen::Vector3f::Zero ()), covariance_ (Eigen::Matrix3f::Identity ()), count_ (0)
      {
      }
      
      Region3D (Eigen::Vector3f& centroid, Eigen::Matrix3f& covariance, unsigned count) 
        : centroid_ (centroid), covariance_ (covariance), count_ (count)
      {
      }
     
      virtual ~Region3D () {}

      inline Eigen::Vector3f 
      getCentroid () const
      {
        return (centroid_);
      }
      
      inline Eigen::Matrix3f
      getCovariance () const
      {
        return (covariance_);
      }
      
      unsigned
      getCount () const
      {
        return (count_);
      }

    protected:
      Eigen::Vector3f centroid_;
      
      Eigen::Matrix3f covariance_;
      
      unsigned count_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif //#ifndef  PCL_SEGMENTATION_REGION_3D_H_