estimate_points_eigen.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mrpt/core/optional_ref.h>
#include <mrpt/math/TPoint3D.h>  // TVector3D
#include <mrpt/poses/CPointPDFGaussian.h>
 
#include <cstdint>
#include <optional>
#include <vector>
 
namespace mp2p_icp
{
struct PointCloudEigen
{
    mrpt::poses::CPointPDFGaussian       meanCov;
    std::array<mrpt::math::TVector3D, 3> eigVectors = {
        {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}};
    std::array<double, 3> eigVals = {0, 0, 0};  
};
 
PointCloudEigen estimate_points_eigen(
    const float* xs, const float* ys, const float* zs,
    mrpt::optional_ref<const std::vector<size_t>> indices,
    std::optional<size_t>                         totalCount = std::nullopt);
 
void vector_of_points_to_xyz(
    const std::vector<mrpt::math::TPoint3Df>& pts, std::vector<float>& xs,
    std::vector<float>& ys, std::vector<float>& zs);
 
}  // namespace mp2p_icp