#include <pcl/memory.h>#include <pcl/pcl_macros.h>#include <pcl/point_cloud.h>#include <pcl/type_traits.h>#include <pcl/PointIndices.h>#include <pcl/cloud_iterator.h>#include <pcl/common/impl/accumulators.hpp>#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, Scalar > |
| Helper functor structure for n-D centroid estimation. More... | |
| class | pcl::CentroidPoint< PointT > |
| A generic class that computes the centroid of points fed to it. More... | |
Namespaces | |
| pcl | |
Functions | |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::compute3DCentroid (ConstCloudIterator< PointT > &cloud_iterator, Eigen::Matrix< Scalar, 4, 1 > ¢roid) |
| Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector. More... | |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (ConstCloudIterator< PointT > &cloud_iterator, Eigen::Vector4f ¢roid) |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (ConstCloudIterator< PointT > &cloud_iterator, Eigen::Vector4d ¢roid) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix< Scalar, 4, 1 > ¢roid) |
| Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector. More... | |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::Vector4f ¢roid) |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::Vector4d ¢roid) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix< Scalar, 4, 1 > ¢roid) |
| Compute the 3D (X-Y-Z) centroid of a set of points using their indices and return it as a 3D vector. More... | |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Vector4f ¢roid) |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Vector4d ¢roid) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix< Scalar, 4, 1 > ¢roid) |
| Compute the 3D (X-Y-Z) centroid of a set of points using their indices and return it as a 3D vector. More... | |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Vector4f ¢roid) |
| template<typename PointT > | |
| unsigned int | pcl::compute3DCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Vector4d ¢roid) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the 3x3 covariance matrix of a given set of points. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Eigen::Vector4d ¢roid, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute normalized the 3x3 covariance matrix of a given set of points. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const Eigen::Vector4d ¢roid, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the 3x3 covariance matrix of a given set of points using their indices. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, const Eigen::Vector4d ¢roid, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the 3x3 covariance matrix of a given set of points using their indices. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Vector4d ¢roid, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const Indices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the normalized 3x3 covariance matrix of a given set of points using their indices. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const Indices &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const Indices &indices, const Eigen::Vector4d ¢roid, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the normalized 3x3 covariance matrix of a given set of points using their indices. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Vector4f ¢roid, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrixNormalized (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, const Eigen::Vector4d ¢roid, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix, Eigen::Matrix< Scalar, 4, 1 > ¢roid) |
| Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3f &covariance_matrix, Eigen::Vector4f ¢roid) |
| template<typename PointT > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3d &covariance_matrix, Eigen::Vector4d ¢roid) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix, Eigen::Matrix< Scalar, 4, 1 > ¢roid) |
| Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix3f &covariance_matrix, Eigen::Vector4f ¢roid) |
| template<typename PointT > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix3d &covariance_matrix, Eigen::Vector4d ¢roid) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix, Eigen::Matrix< Scalar, 4, 1 > ¢roid) |
| Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single loop. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3f &covariance_matrix, Eigen::Vector4f ¢roid) |
| template<typename PointT > | |
| unsigned int | pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3d &covariance_matrix, Eigen::Vector4d ¢roid) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the normalized 3x3 covariance matrix for a already demeaned point cloud. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the normalized 3x3 covariance matrix for a already demeaned point cloud. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix) |
| Compute the normalized 3x3 covariance matrix for a already demeaned point cloud. More... | |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3f &covariance_matrix) |
| template<typename PointT > | |
| unsigned int | pcl::computeCovarianceMatrix (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix3d &covariance_matrix) |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCentroidAndOBB (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix< Scalar, 3, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 1 > &obb_center, Eigen::Matrix< Scalar, 3, 1 > &obb_dimensions, Eigen::Matrix< Scalar, 3, 3 > &obb_rotational_matrix) |
| Compute centroid, OBB (Oriented Bounding Box), PCA axes of a given set of points. More... | |
| template<typename PointT , typename Scalar > | |
| unsigned int | pcl::computeCentroidAndOBB (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix< Scalar, 3, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 1 > &obb_center, Eigen::Matrix< Scalar, 3, 1 > &obb_dimensions, Eigen::Matrix< Scalar, 3, 3 > &obb_rotational_matrix) |
| Compute centroid, OBB (Oriented Bounding Box), PCA axes of a given set of points. More... | |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, pcl::PointCloud< PointT > &cloud_out, int npts=0) |
| Subtract a centroid from a point cloud and return the de-meaned representation. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Vector4f ¢roid, pcl::PointCloud< PointT > &cloud_out, int npts=0) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Vector4d ¢roid, pcl::PointCloud< PointT > &cloud_out, int npts=0) |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| Subtract a centroid from a point cloud and return the de-meaned representation. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Vector4f ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Vector4d ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Indices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| Subtract a centroid from a point cloud and return the de-meaned representation. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Indices &indices, const Eigen::Vector4f ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Indices &indices, const Eigen::Vector4d ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| Subtract a centroid from a point cloud and return the de-meaned representation. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &indices, const Eigen::Vector4f ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &indices, const Eigen::Vector4d ¢roid, pcl::PointCloud< PointT > &cloud_out) |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_out, int npts=0) |
| Subtract a centroid from a point cloud and return the de-meaned representation as an Eigen matrix. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Vector4f ¢roid, Eigen::MatrixXf &cloud_out, int npts=0) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Vector4d ¢roid, Eigen::MatrixXd &cloud_out, int npts=0) |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_out) |
| Subtract a centroid from a point cloud and return the de-meaned representation as an Eigen matrix. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Eigen::Vector4f ¢roid, Eigen::MatrixXf &cloud_out) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Eigen::Vector4d ¢roid, Eigen::MatrixXd &cloud_out) |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Indices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_out) |
| Subtract a centroid from a point cloud and return the de-meaned representation as an Eigen matrix. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Indices &indices, const Eigen::Vector4f ¢roid, Eigen::MatrixXf &cloud_out) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const Indices &indices, const Eigen::Vector4d ¢roid, Eigen::MatrixXd &cloud_out) |
| template<typename PointT , typename Scalar > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &indices, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_out) |
| Subtract a centroid from a point cloud and return the de-meaned representation as an Eigen matrix. More... | |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &indices, const Eigen::Vector4f ¢roid, Eigen::MatrixXf &cloud_out) |
| template<typename PointT > | |
| void | pcl::demeanPointCloud (const pcl::PointCloud< PointT > &cloud_in, const pcl::PointIndices &indices, const Eigen::Vector4d ¢roid, Eigen::MatrixXd &cloud_out) |
| template<typename PointT , typename Scalar > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > ¢roid) |
| General, all purpose nD centroid estimation for a set of points using their indices. More... | |
| template<typename PointT > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::VectorXf ¢roid) |
| template<typename PointT > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, Eigen::VectorXd ¢roid) |
| template<typename PointT , typename Scalar > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > ¢roid) |
| General, all purpose nD centroid estimation for a set of points using their indices. More... | |
| template<typename PointT > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::VectorXf ¢roid) |
| template<typename PointT > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const Indices &indices, Eigen::VectorXd ¢roid) |
| template<typename PointT , typename Scalar > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > ¢roid) |
| General, all purpose nD centroid estimation for a set of points using their indices. More... | |
| template<typename PointT > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::VectorXf ¢roid) |
| template<typename PointT > | |
| void | pcl::computeNDCentroid (const pcl::PointCloud< PointT > &cloud, const pcl::PointIndices &indices, Eigen::VectorXd ¢roid) |
| template<typename PointInT , typename PointOutT > | |
| std::size_t | pcl::computeCentroid (const pcl::PointCloud< PointInT > &cloud, PointOutT ¢roid) |
| Compute the centroid of a set of points and return it as a point. More... | |
| template<typename PointInT , typename PointOutT > | |
| std::size_t | pcl::computeCentroid (const pcl::PointCloud< PointInT > &cloud, const Indices &indices, PointOutT ¢roid) |
| Compute the centroid of a set of points and return it as a point. More... | |