door_handle_detector: statistics.h File Reference

#include <sensor_msgs/PointCloud.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Polygon.h>
#include <cfloat>

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Namespaces
namespace	cloud_geometry
namespace	cloud_geometry::statistics
Functions
double	cloud_geometry::statistics::computeCentralizedMoment (const sensor_msgs::PointCloud &points, double p, double q, double r)
	Compute the centralized moment at a 3D points patch.
double	cloud_geometry::statistics::computeCentralizedMoment (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, double p, double q, double r)
	Compute the centralized moment at a 3D points patch, using their indices.
geometry_msgs::Point32	cloud_geometry::statistics::computeMedian (const sensor_msgs::PointCloud &points)
	Compute the median value of a 3D point cloud and return it as a Point32.
geometry_msgs::Point32	cloud_geometry::statistics::computeMedian (const sensor_msgs::PointCloud &points, const std::vector< int > &indices)
	Compute the median value of a 3D point cloud using a given set point indices and return it as a Point32.
double	cloud_geometry::statistics::computeMedianAbsoluteDeviation (const sensor_msgs::PointCloud &points, double sigma)
	Compute the median absolute deviation: $MAD = \sigma * median_i (\| Xi - median_j(Xj) \|)$ .
double	cloud_geometry::statistics::computeMedianAbsoluteDeviation (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, double sigma)
	Compute the median absolute deviation: $MAD = \sigma * median_i (\| Xi - median_j(Xj) \|)$ .
void	cloud_geometry::statistics::getChannelMeanStd (const sensor_msgs::PointCloud &points, int d_idx, double &mean, double &stddev)
	Compute both the mean and the standard deviation of a channel/dimension of the cloud.
void	cloud_geometry::statistics::getChannelMeanStd (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, int d_idx, double &mean, double &stddev)
	Compute both the mean and the standard deviation of a channel/dimension of the cloud using indices.
void	cloud_geometry::statistics::getLargestDiagonalIndices (const geometry_msgs::Polygon &poly, int &min_idx, int &max_idx)
	Determine the point indices that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getLargestDiagonalIndices (const sensor_msgs::PointCloud &points, int &min_idx, int &max_idx)
	Determine the point indices that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getLargestDiagonalIndices (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, int &min_idx, int &max_idx)
	Determine the point indices that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getLargestDiagonalPoints (const geometry_msgs::Polygon &poly, geometry_msgs::Point32 &min_p, geometry_msgs::Point32 &max_p)
	Determine the points that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getLargestDiagonalPoints (const sensor_msgs::PointCloud &points, geometry_msgs::Point32 &min_p, geometry_msgs::Point32 &max_p)
	Determine the points that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getLargestDiagonalPoints (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, geometry_msgs::Point32 &min_p, geometry_msgs::Point32 &max_p)
	Determine the points that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getLargestXYPoints (const geometry_msgs::Polygon &poly, geometry_msgs::Point32 &min_p, geometry_msgs::Point32 &max_p)
	Determine the points that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getLargestXYPoints (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, geometry_msgs::Point32 &min_p, geometry_msgs::Point32 &max_p)
	Determine the points that form the largest diagonal in a given set of points.
void	cloud_geometry::statistics::getMeanStd (const std::vector< int > &values, double &mean, double &stddev)
	Compute both the mean and the standard deviation of an array of values.
void	cloud_geometry::statistics::getMinMax (const sensor_msgs::PointCloud &points, geometry_msgs::Point32 &minP, geometry_msgs::Point32 &maxP)
	Determine the minimum and maximum 3D bounding box coordinates for a given point cloud.
void	cloud_geometry::statistics::getMinMax (const geometry_msgs::Polygon &poly, geometry_msgs::Point32 &min_p, geometry_msgs::Point32 &max_p)
	Determine the minimum and maximum 3D bounding box coordinates for a given 3D polygon.
void	cloud_geometry::statistics::getMinMax (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, geometry_msgs::Point32 &min_p, geometry_msgs::Point32 &max_p)
	Determine the minimum and maximum 3D bounding box coordinates for a given point cloud, using point indices.
void	cloud_geometry::statistics::getMinMax (const sensor_msgs::PointCloud &points, geometry_msgs::Point32 &min_pt, geometry_msgs::Point32 &max_pt, int c_idx, double cut_distance)
	Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud, without considering points outside of a distance threshold from the laser origin.
void	cloud_geometry::statistics::getMinMax (sensor_msgs::PointCloudConstPtr points, geometry_msgs::Point32 &min_pt, geometry_msgs::Point32 &max_pt, int c_idx, double cut_distance)
	Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud, without considering points outside of a distance threshold from the laser origin.
void	cloud_geometry::statistics::getMinMax (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, geometry_msgs::Point32 &min_pt, geometry_msgs::Point32 &max_pt, int c_idx, double cut_distance)
	Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud, without considering points outside of a distance threshold from the laser origin.
void	cloud_geometry::statistics::getMinMax (sensor_msgs::PointCloudConstPtr points, const std::vector< int > &indices, geometry_msgs::Point32 &min_pt, geometry_msgs::Point32 &max_pt, int c_idx, double cut_distance)
	Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud, without considering points outside of a distance threshold from the laser origin.
void	cloud_geometry::statistics::getTrimean (std::vector< int > values, double &trimean)
	Compute both the trimean (a statistical resistent L-Estimate) of an array of values.
void	cloud_geometry::statistics::selectPointsInsideDistribution (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, int d_idx, double mean, double stddev, double alpha, std::vector< int > &inliers)
	Determines a set of point indices inside of a +/- * distribution interval, in a given channel space, where and are the mean and the standard deviation of the channel distribution.
void	cloud_geometry::statistics::selectPointsOutsideDistribution (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, int d_idx, double mean, double stddev, double alpha, std::vector< int > &inliers)
	Determines a set of point indices outside of a +/- * distribution interval, in a given channel space, where and are the mean and the standard deviation of the channel distribution.

Namespaces

Functions