Point Cloud Library (PCL)  1.9.1-dev
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...

## ◆ computeApproximateCovariances()

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] cloud Point cloud containing the XYZ coordinates, [in] normals Point cloud containing the corresponding surface normals. [out] covariances Vector of computed covariances. [in] Optional Epsilon 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.

## ◆ computeApproximateNormals()

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] cloud Point cloud containing the XYZ coordinates. [in] polygons Polygons from the mesh. [out] normals Point cloud with computed surface normals

Definition at line 17 of file from_meshes.h.