principal_curvatures.h

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 * $Id: principal_curvatures.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_PRINCIPAL_CURVATURES_H_
#define PCL_PRINCIPAL_CURVATURES_H_

#include <Eigen/StdVector>
#include <Eigen/Sparse>
#include <pcl/features/feature.h>

namespace pcl
{

  template <typename PointInT, typename PointNT, typename PointOutT>
  class PrincipalCurvaturesEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef pcl::PointCloud<PointInT> PointCloudIn;

      PrincipalCurvaturesEstimation () 
      {
        feature_name_ = "PrincipalCurvaturesEstimation";
      };

      void computePointPrincipalCurvatures (const pcl::PointCloud<PointNT> &normals, int p_idx, const std::vector<int> &indices, float &pcx, float &pcy, float &pcz, float &pc1, float &pc2);

    protected:

      void computeFeature (PointCloudOut &output);

    private:
      std::vector<Eigen::Vector3f> projected_normals_;

      Eigen::Vector3f xyz_centroid_;

      Eigen::Vector3f demean_;

      EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_;

      EIGEN_ALIGN16 Eigen::Matrix3f eigenvectors_;
      Eigen::Vector3f eigenvalues_;
  };
}

#endif  //#ifndef PCL_PRINCIPAL_CURVATURES_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013