Simple structure to hold a centroid, covarince and the number of points in a leaf. More...
#include <pcl/filters/voxel_grid_covariance.h>
Public Member Functions |
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| Leaf () | |
| Constructor. More... |
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| Eigen::Matrix3d | getCov () const |
| Get the voxel covariance. More... |
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| Eigen::Matrix3d | getInverseCov () const |
| Get the inverse of the voxel covariance. More... |
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| Eigen::Vector3d | getMean () const |
| Get the voxel centroid. More... |
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| Eigen::Matrix3d | getEvecs () const |
| Get the eigen vectors of the voxel covariance. More... |
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| Eigen::Vector3d | getEvals () const |
| Get the eigen values of the voxel covariance. More... |
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| int | getPointCount () const |
| Get the number of points contained by this voxel. More... |
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Public Attributes |
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| int | nr_points |
| Number of points contained by voxel. More... |
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| Eigen::Vector3d | mean_ |
| 3D voxel centroid More... |
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| Eigen::VectorXf | centroid |
| Nd voxel centroid. More... |
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| Eigen::Matrix3d | cov_ |
| Voxel covariance matrix. More... |
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| Eigen::Matrix3d | icov_ |
| Inverse of voxel covariance matrix. More... |
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| Eigen::Matrix3d | evecs_ |
| Eigen vectors of voxel covariance matrix. More... |
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| Eigen::Vector3d | evals_ |
| Eigen values of voxel covariance matrix. More... |
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Detailed Description
template<typename PointT>
struct pcl::VoxelGridCovariance< PointT >::Leaf
Simple structure to hold a centroid, covarince and the number of points in a leaf.
Inverse covariance, eigen vectors and engen values are precomputed.
Definition at line 91 of file voxel_grid_covariance.h.
Constructor & Destructor Documentation
Leaf()
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inline |
Member Function Documentation
getCov()
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inline |
Get the voxel covariance.
- Returns
- covariance matrix
Definition at line 110 of file voxel_grid_covariance.h.
References pcl::VoxelGridCovariance< PointT >::Leaf::cov_.
getEvals()
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inline |
Get the eigen values of the voxel covariance.
- Note
- Order corresponds with getEvecs
- Returns
- vector of eigen values
Definition at line 148 of file voxel_grid_covariance.h.
References pcl::VoxelGridCovariance< PointT >::Leaf::evals_.
getEvecs()
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inline |
Get the eigen vectors of the voxel covariance.
- Note
- Order corresponds with getEvals
- Returns
- matrix whose columns contain eigen vectors
Definition at line 138 of file voxel_grid_covariance.h.
References pcl::VoxelGridCovariance< PointT >::Leaf::evecs_.
getInverseCov()
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inline |
Get the inverse of the voxel covariance.
- Returns
- inverse covariance matrix
Definition at line 119 of file voxel_grid_covariance.h.
References pcl::VoxelGridCovariance< PointT >::Leaf::icov_.
getMean()
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inline |
Get the voxel centroid.
- Returns
- centroid
Definition at line 128 of file voxel_grid_covariance.h.
References pcl::VoxelGridCovariance< PointT >::Leaf::mean_.
getPointCount()
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inline |
Get the number of points contained by this voxel.
- Returns
- number of points
Definition at line 157 of file voxel_grid_covariance.h.
References pcl::VoxelGridCovariance< PointT >::Leaf::nr_points.
Member Data Documentation
centroid
| Eigen::VectorXf pcl::VoxelGridCovariance< PointT >::Leaf::centroid |
Nd voxel centroid.
- Note
- Differs from mean_ when color data is used
Definition at line 171 of file voxel_grid_covariance.h.
cov_
| Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::cov_ |
Voxel covariance matrix.
Definition at line 174 of file voxel_grid_covariance.h.
Referenced by pcl::VoxelGridCovariance< PointT >::Leaf::getCov().
evals_
| Eigen::Vector3d pcl::VoxelGridCovariance< PointT >::Leaf::evals_ |
Eigen values of voxel covariance matrix.
Definition at line 183 of file voxel_grid_covariance.h.
Referenced by pcl::VoxelGridCovariance< PointT >::Leaf::getEvals().
evecs_
| Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::evecs_ |
Eigen vectors of voxel covariance matrix.
Definition at line 180 of file voxel_grid_covariance.h.
Referenced by pcl::VoxelGridCovariance< PointT >::Leaf::getEvecs().
icov_
| Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::icov_ |
Inverse of voxel covariance matrix.
Definition at line 177 of file voxel_grid_covariance.h.
Referenced by pcl::VoxelGridCovariance< PointT >::Leaf::getInverseCov().
mean_
| Eigen::Vector3d pcl::VoxelGridCovariance< PointT >::Leaf::mean_ |
3D voxel centroid
Definition at line 166 of file voxel_grid_covariance.h.
Referenced by pcl::VoxelGridCovariance< PointT >::Leaf::getMean().
nr_points
| int pcl::VoxelGridCovariance< PointT >::Leaf::nr_points |
Number of points contained by voxel.
Definition at line 163 of file voxel_grid_covariance.h.
Referenced by pcl::VoxelGridCovariance< PointT >::Leaf::getPointCount().
The documentation for this struct was generated from the following file:
- pcl/filters/voxel_grid_covariance.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/structpcl_1_1_voxel_grid_covariance_1_1_leaf.html
