Point Cloud Library (PCL)  1.9.1-dev
Classes | Functions
pcl::features Namespace Reference

Classes

struct  ISMModel
 The assignment of this structure is to store the statistical/learned weights and other information of the trained Implict Shape Model algorithm. More...
 
class  ISMVoteList
 This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm. More...
 

Functions

template<typename PointT , typename PointNT >
void computeApproximateNormals (const pcl::PointCloud< PointT > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< PointNT > &normals)
 Compute approximate surface normals on a mesh. More...
 
template<typename PointT , typename PointNT >
void computeApproximateCovariances (const pcl::PointCloud< PointT > &cloud, const pcl::PointCloud< PointNT > &normals, std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > &covariances, double epsilon=0.001)
 Compute GICP-style covariance matrices given a point cloud and the corresponding surface normals. More...
 

Function Documentation

template<typename PointT , typename PointNT >
void pcl::features::computeApproximateCovariances ( const pcl::PointCloud< PointT > &  cloud,
const pcl::PointCloud< PointNT > &  normals,
std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > &  covariances,
double  epsilon = 0.001 
)
inline

Compute GICP-style covariance matrices given a point cloud and the corresponding surface normals.

Parameters
[in]cloudPoint cloud containing the XYZ coordinates,
[in]normalsPoint cloud containing the corresponding surface normals.
[out]covariancesVector of computed covariances.
[in]OptionalEpsilon for the expected noise along the surface normal (default: 0.001)

Definition at line 65 of file from_meshes.h.

References pcl::PointCloud< PointT >::points.

template<typename PointT , typename PointNT >
void pcl::features::computeApproximateNormals ( const pcl::PointCloud< PointT > &  cloud,
const std::vector< pcl::Vertices > &  polygons,
pcl::PointCloud< PointNT > &  normals 
)
inline

Compute approximate surface normals on a mesh.

Parameters
[in]cloudPoint cloud containing the XYZ coordinates.
[in]polygonsPolygons from the mesh.
[out]normalsPoint cloud with computed surface normals

Definition at line 17 of file from_meshes.h.

References pcl::flipNormalTowardsViewpoint(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.