centroid.h File Reference

#include <pcl/point_cloud.h>
#include <pcl/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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	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 >
unsigned int	pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3f &covariance_matrix, Eigen::Vector4f &centroid)
	Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop.
template<typename PointT >
unsigned int	pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, Eigen::Matrix3f &covariance_matrix, Eigen::Vector4f &centroid)
	Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop.
template<typename PointT >
unsigned int	pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3f &covariance_matrix, Eigen::Vector4f &centroid)
	Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop.
template<typename PointT >
unsigned int	pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3d &covariance_matrix, Eigen::Vector4d &centroid)
	Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop.
template<typename PointT >
unsigned int	pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, Eigen::Matrix3d &covariance_matrix, Eigen::Vector4d &centroid)
	Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop.
template<typename PointT >
unsigned int	pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3d &covariance_matrix, Eigen::Vector4d &centroid)
	Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop.
template<typename PointT >
unsigned int	pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3f &covariance_matrix)
	Compute the normalized 3x3 covariance matrix for a already demeaned point cloud.
template<typename PointT >
unsigned int	pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, Eigen::Matrix3f &covariance_matrix)
	Compute the normalized 3x3 covariance matrix for a already demeaned point cloud.
template<typename PointT >
unsigned int	pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3f &covariance_matrix)
	Compute the normalized 3x3 covariance matrix for a already demeaned point cloud.
template<typename PointT >
unsigned int	pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3d &covariance_matrix)
	Compute the normalized 3x3 covariance matrix for a already demeaned point cloud.
template<typename PointT >
unsigned int	pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, Eigen::Matrix3d &covariance_matrix)
	Compute the normalized 3x3 covariance matrix for a already demeaned point cloud.
template<typename PointT >
unsigned int	pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3d &covariance_matrix)
	Compute the normalized 3x3 covariance matrix for a already demeaned point cloud.
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::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &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.