Point Cloud Library (PCL)
1.3.1
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#include <pcl/point_cloud.h>
#include <pcl/ros/point_traits.h>
#include <pcl/PointIndices.h>
#include "pcl/common/impl/centroid.hpp"
Go to the source code of this file.
Define methods for centroid estimation and covariance matrix calculus.
Definition in file centroid.h.
Classes | |
struct | pcl::NdCentroidFunctor |
Helper functor structure for n-D centroid estimation. More... | |
Namespaces | |
namespace | pcl |
Software License Agreement (BSD License) | |
Functions | |
template<typename PointT > | |
void | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::Vector4f ¢roid) |
Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector. | |
template<typename PointT > | |
void | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, Eigen::Vector4f ¢roid) |
Compute the 3D (X-Y-Z) centroid of a set of points using their indices and return it as a 3D vector. | |
template<typename PointT > | |
void | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Vector4f ¢roid) |
Compute the 3D (X-Y-Z) centroid of a set of points using their indices and return it as a 3D vector. | |
template<typename PointT > | |
void | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
Compute the 3x3 covariance matrix of a given set of points. | |
template<typename PointT > | |
void | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
Compute normalized the 3x3 covariance matrix of a given set of points. | |
template<typename PointT > | |
void | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
Compute the 3x3 covariance matrix of a given set of points using their indices. | |
template<typename PointT > | |
void | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
Compute the 3x3 covariance matrix of a given set of points using their indices. | |
template<typename PointT > | |
void | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
Compute the normalized 3x3 covariance matrix of a given set of points using their indices. | |
template<typename PointT > | |
void | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
Compute the normalized 3x3 covariance matrix of a given set of points using their indices. | |
template<typename PointT > | |
void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Eigen::Vector4f ¢roid, pcl::PointCloud< PointT > &cloud_out) |
Subtract a centroid from a point cloud and return the de-meaned representation. | |
template<typename PointT > | |
void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const std::vector< int > &indices, const Eigen::Vector4f ¢roid, pcl::PointCloud< PointT > &cloud_out) |
Subtract a centroid from a point cloud and return the de-meaned representation. | |
template<typename PointT > | |
void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Eigen::Vector4f ¢roid, Eigen::MatrixXf &cloud_out) |
Subtract a centroid from a point cloud and return the de-meaned representation as an Eigen matrix. | |
template<typename PointT > | |
void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const std::vector< int > &indices, const Eigen::Vector4f ¢roid, Eigen::MatrixXf &cloud_out) |
Subtract a centroid from a point cloud and return the de-meaned representation as an Eigen matrix. | |
template<typename PointT > | |
void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &indices, const Eigen::Vector4f ¢roid, Eigen::MatrixXf &cloud_out) |
Subtract a centroid from a point cloud and return the de-meaned representation as an Eigen matrix. | |
template<typename PointT > | |
void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::VectorXf ¢roid) |
General, all purpose nD centroid estimation for a set of points using their indices. | |
template<typename PointT > | |
void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, Eigen::VectorXf ¢roid) |
General, all purpose nD centroid estimation for a set of points using their indices. | |
template<typename PointT > | |
void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::VectorXf ¢roid) |
General, all purpose nD centroid estimation for a set of points using their indices. |