Use Eigen/Core in rift.hpp

* Use `Eigen::Map` in `rift.hpp`
* Add missing `pcl/point_types.h` includes in tests where `rift.h` is used

Signed-off-by: Ramir Sultanov <sumir0@proton.me>

Author: sumir0

features/include/pcl/features/impl/rift.hpp

@@ -42,7 +42,8 @@
 #define PCL_FEATURES_IMPL_RIFT_H_
 
 #include <pcl/features/rift.h>
-#include <pcl/point_types.h>    // for pcl::Vector3fMapConst
+
+#include <Eigen/Core>           // for Eigen::Map<const Eigen::Vector3f>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename GradientT, typename PointOutT> void
@@ -62,14 +63,14 @@ pcl::RIFTEstimation<PointInT, GradientT, PointOutT>::computeRIFT (
   int nr_gradient_bins = static_cast<int> (rift_descriptor.cols ());
 
   // Get the center point
-  pcl::Vector3fMapConst p0 = cloud[p_idx].getVector3fMap ();
+  const Eigen::Map<const Eigen::Vector3f> p0 = cloud[p_idx].getVector3fMap ();
 
   // Compute the RIFT descriptor
   rift_descriptor.setZero ();
   for (std::size_t idx = 0; idx < indices.size (); ++idx)
   {
     // Compute the gradient magnitude and orientation (relative to the center point)
-    pcl::Vector3fMapConst point = cloud[indices[idx]].getVector3fMap ();
+    const Eigen::Map<const Eigen::Vector3f> point = cloud[indices[idx]].getVector3fMap ();
     Eigen::Map<const Eigen::Vector3f> gradient_vector (& (gradient[indices[idx]].gradient[0]));
 
     float gradient_magnitude = gradient_vector.norm ();

test/features/test_ptr.cpp

@@ -39,6 +39,7 @@
 
 #include <pcl/test/gtest.h>
 #include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
 #include <pcl/features/vfh.h>
 #include <pcl/features/usc.h>
 #include <pcl/features/statistical_multiscale_interest_region_extraction.h>

test/features/test_rift_estimation.cpp

@@ -39,6 +39,7 @@
 
 #include <pcl/test/gtest.h>
 #include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
 #include <pcl/features/rift.h>
 #include <pcl/search/kdtree.h> // for KdTree