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covariance_sampling.h File Reference
#include <pcl/filters/filter_indices.h>
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Classes

class  pcl::CovarianceSampling< PointT, PointNT >
 Point Cloud sampling based on the 6D covariances. It selects the points such that the resulting cloud is as stable as possible for being registered (against a copy of itself) with ICP. The algorithm adds points to the resulting cloud incrementally, while trying to keep all the 6 eigenvalues of the covariance matrix as close to each other as possible. This class also comes with the computeConditionNumber method that returns a number which shows how stable a point cloud will be when used as input for ICP (the closer the value it is to 1.0, the better). More...

Namespaces

namespace  pcl


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:38:44