pcl::VoxelGridCovariance< PointT >::Leaf Struct Reference

Simple structure to hold a centroid, covarince and the number of points in a leaf. Inverse covariance, eigen vectors and engen values are precomputed. More...

#include <voxel_grid_covariance.h>

List of all members.

Public Member Functions
Eigen::Matrix3d	getCov () const
	Get the voxel covariance.
Eigen::Vector3d	getEvals () const
	Get the eigen values of the voxel covariance.
Eigen::Matrix3d	getEvecs () const
	Get the eigen vectors of the voxel covariance.
Eigen::Matrix3d	getInverseCov () const
	Get the inverse of the voxel covariance.
Eigen::Vector3d	getMean () const
	Get the voxel centroid.
int	getPointCount () const
	Get the number of points contained by this voxel.
	Leaf ()
	Constructor. Sets nr_points, icov_, mean_ and evals_ to 0 and cov_ and evecs_ to the identity matrix.
Public Attributes
Eigen::VectorXf	centroid
	Nd voxel centroid.
Eigen::Matrix3d	cov_
	Voxel covariance matrix.
Eigen::Vector3d	evals_
	Eigen values of voxel covariance matrix.
Eigen::Matrix3d	evecs_
	Eigen vectors of voxel covariance matrix.
Eigen::Matrix3d	icov_
	Inverse of voxel covariance matrix.
Eigen::Vector3d	mean_
	3D voxel centroid
int	nr_points
	Number of points contained by voxel.

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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 93 of file voxel_grid_covariance.h.

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Constructor & Destructor Documentation

template<typename PointT>

pcl::VoxelGridCovariance< PointT >::Leaf::Leaf

(

)

[inline]

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

Definition at line 98 of file voxel_grid_covariance.h.

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Member Function Documentation

template<typename PointT>

Eigen::Matrix3d pcl::VoxelGridCovariance< PointT >::Leaf::getCov

(

)

const [inline]

Get the voxel covariance.

Returns:

covariance matrix

Definition at line 113 of file voxel_grid_covariance.h.

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 151 of file voxel_grid_covariance.h.

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 141 of file voxel_grid_covariance.h.

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 122 of file voxel_grid_covariance.h.

template<typename PointT>

Eigen::Vector3d pcl::VoxelGridCovariance< PointT >::Leaf::getMean

(

)

const [inline]

Get the voxel centroid.

Returns:

centroid

Definition at line 131 of file voxel_grid_covariance.h.

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 160 of file voxel_grid_covariance.h.

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Member Data Documentation

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 174 of file voxel_grid_covariance.h.

template<typename PointT>

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

Voxel covariance matrix.

Definition at line 177 of file voxel_grid_covariance.h.

template<typename PointT>

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

Eigen values of voxel covariance matrix.

Definition at line 186 of file voxel_grid_covariance.h.

template<typename PointT>

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

Eigen vectors of voxel covariance matrix.

Definition at line 183 of file voxel_grid_covariance.h.

template<typename PointT>

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

Inverse of voxel covariance matrix.

Definition at line 180 of file voxel_grid_covariance.h.

template<typename PointT>

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

3D voxel centroid

Definition at line 169 of file voxel_grid_covariance.h.

template<typename PointT>

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

Number of points contained by voxel.

Definition at line 166 of file voxel_grid_covariance.h.

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

• voxel_grid_covariance.h