Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 00036 #ifndef PCL_COMMON_CENTROID_H_ 00037 #define PCL_COMMON_CENTROID_H_ 00038 00039 #include <pcl/point_cloud.h> 00040 #include <pcl/ros/point_traits.h> 00041 #include <pcl/PointIndices.h> 00042 00050 namespace pcl 00051 { 00058 template <typename PointT> inline void 00059 compute3DCentroid (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f ¢roid); 00060 00068 template <typename PointT> inline void 00069 compute3DCentroid (const pcl::PointCloud<PointT> &cloud, 00070 const std::vector<int> &indices, Eigen::Vector4f ¢roid); 00071 00079 template <typename PointT> inline void 00080 compute3DCentroid (const pcl::PointCloud<PointT> &cloud, 00081 const pcl::PointIndices &indices, Eigen::Vector4f ¢roid); 00082 00093 template <typename PointT> inline void 00094 computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud, 00095 const Eigen::Vector4f ¢roid, 00096 Eigen::Matrix3f &covariance_matrix); 00097 00107 template <typename PointT> inline void 00108 computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud, 00109 const Eigen::Vector4f ¢roid, 00110 Eigen::Matrix3f &covariance_matrix); 00111 00123 template <typename PointT> inline void 00124 computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud, 00125 const std::vector<int> &indices, 00126 const Eigen::Vector4f ¢roid, 00127 Eigen::Matrix3f &covariance_matrix); 00128 00140 template <typename PointT> inline void 00141 computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud, 00142 const pcl::PointIndices &indices, 00143 const Eigen::Vector4f ¢roid, 00144 Eigen::Matrix3f &covariance_matrix); 00145 00156 template <typename PointT> inline void 00157 computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud, 00158 const std::vector<int> &indices, 00159 const Eigen::Vector4f ¢roid, 00160 Eigen::Matrix3f &covariance_matrix); 00161 00171 template <typename PointT> inline void 00172 computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud, 00173 const pcl::PointIndices &indices, 00174 const Eigen::Vector4f ¢roid, 00175 Eigen::Matrix3f &covariance_matrix); 00176 00183 template <typename PointT> void 00184 demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00185 const Eigen::Vector4f ¢roid, 00186 pcl::PointCloud<PointT> &cloud_out); 00187 00195 template <typename PointT> void 00196 demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00197 const std::vector<int> &indices, 00198 const Eigen::Vector4f ¢roid, 00199 pcl::PointCloud<PointT> &cloud_out); 00200 00209 template <typename PointT> void 00210 demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00211 const Eigen::Vector4f ¢roid, 00212 Eigen::MatrixXf &cloud_out); 00213 00223 template <typename PointT> void 00224 demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00225 const std::vector<int> &indices, 00226 const Eigen::Vector4f ¢roid, 00227 Eigen::MatrixXf &cloud_out); 00228 00238 template <typename PointT> void 00239 demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00240 const pcl::PointIndices& indices, 00241 const Eigen::Vector4f ¢roid, 00242 Eigen::MatrixXf &cloud_out); 00243 00245 template<typename PointT> 00246 struct NdCentroidFunctor 00247 { 00248 typedef typename traits::POD<PointT>::type Pod; 00249 00250 NdCentroidFunctor (const PointT &p, Eigen::VectorXf ¢roid) 00251 : f_idx_ (0), 00252 centroid_ (centroid), 00253 p_ (reinterpret_cast<const Pod&>(p)) { } 00254 00255 template<typename Key> inline void operator() () 00256 { 00257 typedef typename pcl::traits::datatype<PointT, Key>::type T; 00258 const uint8_t* raw_ptr = reinterpret_cast<const uint8_t*>(&p_) + pcl::traits::offset<PointT, Key>::value; 00259 const T* data_ptr = reinterpret_cast<const T*>(raw_ptr); 00260 00261 // Check if the value is invalid 00262 if (!pcl_isfinite (*data_ptr)) 00263 { 00264 f_idx_++; 00265 return; 00266 } 00267 00268 centroid_[f_idx_++] += *data_ptr; 00269 } 00270 00271 private: 00272 int f_idx_; 00273 Eigen::VectorXf ¢roid_; 00274 const Pod &p_; 00275 }; 00276 00283 template <typename PointT> inline void 00284 computeNDCentroid (const pcl::PointCloud<PointT> &cloud, Eigen::VectorXf ¢roid); 00285 00293 template <typename PointT> inline void 00294 computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 00295 const std::vector<int> &indices, Eigen::VectorXf ¢roid); 00296 00304 template <typename PointT> inline void 00305 computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 00306 const pcl::PointIndices &indices, Eigen::VectorXf ¢roid); 00307 00308 } 00310 #include "pcl/common/impl/centroid.hpp" 00311 00312 #endif //#ifndef PCL_COMMON_CENTROID_H_