Classes | Namespaces | Functions

centroid.h File Reference

#include <pcl/point_cloud.h>
#include <pcl/ros/point_traits.h>
#include <pcl/PointIndices.h>
#include "pcl/common/impl/centroid.hpp"
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Detailed Description

Define methods for centroid estimation and covariance matrix calculus.

Definition in file centroid.h.

Classes

struct  pcl::NdCentroidFunctor< PointT >
 Helper functor structure for n-D centroid estimation. More...

Namespaces

namespace  pcl

Functions

template<typename PointT >
void pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::Vector4f &centroid)
 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 &centroid)
 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 &centroid)
 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid, 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 &centroid)
 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 &centroid)
 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 &centroid)
 General, all purpose nD centroid estimation for a set of points using their indices.