Point Cloud Library (PCL) 1.13.0
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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.
 
Eigen::Matrix3d getCov () const
 Get the voxel covariance.
 
Eigen::Matrix3d getInverseCov () const
 Get the inverse of the voxel covariance.
 
Eigen::Vector3d getMean () const
 Get the voxel centroid.
 
Eigen::Matrix3d getEvecs () const
 Get the eigen vectors of the voxel covariance.
 
Eigen::Vector3d getEvals () const
 Get the eigen values of the voxel covariance.
 
int getPointCount () const
 Get the number of points contained by this voxel.
 

Public Attributes

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

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 110 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 148 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 138 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 119 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 128 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 157 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 171 of file voxel_grid_covariance.h.

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

◆ cov_

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

◆ evals_

template<typename PointT >
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 >::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 180 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 177 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_

◆ nr_points

template<typename PointT >
int pcl::VoxelGridCovariance< PointT >::Leaf::nr_points

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