Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Member Functions | Public Attributes
pcl::VoxelGridCovariance< PointT >::Leaf Struct Reference

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

 Leaf ()
 Constructor. More...
 
Eigen::Matrix3d getCov () const
 Get the voxel covariance. More...
 
Eigen::Matrix3d getInverseCov () const
 Get the inverse of the voxel covariance. More...
 
Eigen::Vector3d getMean () const
 Get the voxel centroid. More...
 
Eigen::Matrix3d getEvecs () const
 Get the eigen vectors of the voxel covariance. More...
 
Eigen::Vector3d getEvals () const
 Get the eigen values of the voxel covariance. More...
 
int getPointCount () const
 Get the number of points contained by this voxel. More...
 

Public Attributes

int nr_points {0}
 Number of points contained by voxel. More...
 
Eigen::Vector3d mean_
 3D voxel centroid More...
 
Eigen::VectorXf centroid
 Nd voxel centroid. More...
 
Eigen::Matrix3d cov_
 Voxel covariance matrix. More...
 
Eigen::Matrix3d icov_
 Inverse of voxel covariance matrix. More...
 
Eigen::Matrix3d evecs_
 Eigen vectors of voxel covariance matrix. More...
 
Eigen::Vector3d evals_
 Eigen values of voxel covariance matrix. More...
 

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()

template<typename PointT >
pcl::VoxelGridCovariance< PointT >::Leaf::Leaf ( )
inline

Constructor.

Sets nr_points, cov_, icov_, mean_ and evals_ to 0 and evecs_ to the identity matrix

Definition at line 96 of file voxel_grid_covariance.h.

Member Function Documentation

◆ getCov()

template<typename PointT >
Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::getCov ( ) const
inline

Get the voxel covariance.

Returns
covariance matrix

Definition at line 109 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::Leaf::cov_.

◆ getEvals()

template<typename PointT >
Eigen::Vector3d pcl::VoxelGridCovariance< PointT >::Leaf::getEvals ( ) const
inline

Get the eigen values of the voxel covariance.

Note
Order corresponds with getEvecs
Returns
vector of eigen values

Definition at line 147 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::Leaf::evals_.

◆ getEvecs()

template<typename PointT >
Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::getEvecs ( ) const
inline

Get the eigen vectors of the voxel covariance.

Note
Order corresponds with getEvals
Returns
matrix whose columns contain eigen vectors

Definition at line 137 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::Leaf::evecs_.

◆ getInverseCov()

template<typename PointT >
Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::getInverseCov ( ) const
inline

Get the inverse of the voxel covariance.

Returns
inverse covariance matrix

Definition at line 118 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::Leaf::icov_.

◆ getMean()

template<typename PointT >
Eigen::Vector3d pcl::VoxelGridCovariance< PointT >::Leaf::getMean ( ) const
inline

Get the voxel centroid.

Returns
centroid

Definition at line 127 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::Leaf::mean_.

◆ getPointCount()

template<typename PointT >
int pcl::VoxelGridCovariance< PointT >::Leaf::getPointCount ( ) const
inline

Get the number of points contained by this voxel.

Returns
number of points

Definition at line 156 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::Leaf::nr_points.

Member Data Documentation

◆ centroid

template<typename PointT >
Eigen::VectorXf pcl::VoxelGridCovariance< PointT >::Leaf::centroid

Nd voxel centroid.

Note
Differs from mean_ when color data is used

Definition at line 170 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::applyFilter().

◆ cov_

template<typename PointT >
Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::cov_

Voxel covariance matrix.

Definition at line 173 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::applyFilter(), pcl::VoxelGridCovariance< PointT >::Leaf::getCov(), and pcl::VoxelGridCovariance< PointT >::getDisplayCloud().

◆ evals_

template<typename PointT >
Eigen::Vector3d pcl::VoxelGridCovariance< PointT >::Leaf::evals_

Eigen values of voxel covariance matrix.

Definition at line 182 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::applyFilter(), and pcl::VoxelGridCovariance< PointT >::Leaf::getEvals().

◆ evecs_

template<typename PointT >
Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::evecs_

Eigen vectors of voxel covariance matrix.

Definition at line 179 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::applyFilter(), and pcl::VoxelGridCovariance< PointT >::Leaf::getEvecs().

◆ icov_

template<typename PointT >
Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::icov_

Inverse of voxel covariance matrix.

Definition at line 176 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::applyFilter(), and pcl::VoxelGridCovariance< PointT >::Leaf::getInverseCov().

◆ mean_

template<typename PointT >
Eigen::Vector3d pcl::VoxelGridCovariance< PointT >::Leaf::mean_

3D voxel centroid

Definition at line 165 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::applyFilter(), pcl::VoxelGridCovariance< PointT >::getDisplayCloud(), and pcl::VoxelGridCovariance< PointT >::Leaf::getMean().

◆ nr_points

template<typename PointT >
int pcl::VoxelGridCovariance< PointT >::Leaf::nr_points {0}

Number of points contained by voxel.

Definition at line 162 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::applyFilter(), pcl::VoxelGridCovariance< PointT >::getDisplayCloud(), and pcl::VoxelGridCovariance< PointT >::Leaf::getPointCount().

The documentation for this struct was generated from the following file: