Point Cloud Library (PCL)  1.3.1
principal_curvatures.h
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00001 /*
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00034  * $Id: principal_curvatures.h 1370 2011-06-19 01:06:01Z jspricke $
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00037 
00038 #ifndef PCL_PRINCIPAL_CURVATURES_H_
00039 #define PCL_PRINCIPAL_CURVATURES_H_
00040 
00041 #include <Eigen/StdVector>
00042 #include <Eigen/Sparse>
00043 #include <pcl/features/feature.h>
00044 
00045 namespace pcl
00046 {
00055   template <typename PointInT, typename PointNT, typename PointOutT>
00056   class PrincipalCurvaturesEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00057   {
00058     public:
00059       using Feature<PointInT, PointOutT>::feature_name_;
00060       using Feature<PointInT, PointOutT>::getClassName;
00061       using Feature<PointInT, PointOutT>::indices_;
00062       using Feature<PointInT, PointOutT>::k_;
00063       using Feature<PointInT, PointOutT>::search_parameter_;
00064       using Feature<PointInT, PointOutT>::surface_;
00065       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00066 
00067       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00068       typedef pcl::PointCloud<PointInT> PointCloudIn;
00069 
00071       PrincipalCurvaturesEstimation () 
00072       {
00073         feature_name_ = "PrincipalCurvaturesEstimation";
00074       };
00075 
00088       void 
00089       computePointPrincipalCurvatures (const pcl::PointCloud<PointNT> &normals, 
00090                                        int p_idx, const std::vector<int> &indices, 
00091                                        float &pcx, float &pcy, float &pcz, float &pc1, float &pc2);
00092 
00093     protected:
00094 
00100       void 
00101       computeFeature (PointCloudOut &output);
00102 
00103     private:
00105       std::vector<Eigen::Vector3f> projected_normals_;
00106 
00108       Eigen::Vector3f xyz_centroid_;
00109 
00111       Eigen::Vector3f demean_;
00112 
00114       EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_;
00115 
00117       EIGEN_ALIGN16 Eigen::Matrix3f eigenvectors_;
00119       Eigen::Vector3f eigenvalues_;
00120   };
00121 }
00122 
00123 #endif  //#ifndef PCL_PRINCIPAL_CURVATURES_H_
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