Loading...
Searching...
No Matches
region_3d.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#pragma once
#include <Eigen/Core>
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
namespace pcl
{
/** \brief Region3D represents summary statistics of a 3D collection of points.
* \author Alex Trevor
*/
template <typename PointT>
class Region3D
{
public:
/** \brief Empty constructor for Region3D. */
Region3D () : centroid_ (Eigen::Vector3f::Zero ()), covariance_ (Eigen::Matrix3f::Identity ()), count_ (0)
{
}
/** \brief Constructor for Region3D.
* \param[in] centroid The centroid of the region.
* \param[in] covariance The covariance of the region.
* \param[in] count The number of points in the region.
*/
Region3D (Eigen::Vector3f& centroid, Eigen::Matrix3f& covariance, unsigned count)
: centroid_ (centroid), covariance_ (covariance), count_ (count)
{
}
/** \brief Destructor. */
virtual ~Region3D () = default;
/** \brief Get the centroid of the region. */
inline Eigen::Vector3f
getCentroid () const
{
return (centroid_);
}
/** \brief Get the covariance of the region. */
inline Eigen::Matrix3f
getCovariance () const
{
return (covariance_);
}
/** \brief Get the number of points in the region. */
unsigned
getCount () const
{
return (count_);
}
/** \brief Get the curvature of the region. */
float
getCurvature () const
{
return (curvature_);
}
/** \brief Set the curvature of the region. */
void
setCurvature (float curvature)
{
curvature_ = curvature;
}
protected:
/** \brief The centroid of the region. */
Eigen::Vector3f centroid_;
/** \brief The covariance of the region. */
Eigen::Matrix3f covariance_;
/** \brief The number of points in the region. */
unsigned count_;
/** \brief The mean curvature of the region. */
float curvature_{0.0f};
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
}
pcl::Region3D::centroid_
Eigen::Vector3f centroid_
The centroid of the region.
Definition region_3d.h:109
pcl::Region3D::getCovariance
Eigen::Matrix3f getCovariance() const
Get the covariance of the region.
Definition region_3d.h:81
pcl::Region3D::~Region3D
virtual ~Region3D()=default
Destructor.
pcl::Region3D::setCurvature
void setCurvature(float curvature)
Set the curvature of the region.
Definition region_3d.h:102
pcl::Region3D::getCentroid
Eigen::Vector3f getCentroid() const
Get the centroid of the region.
Definition region_3d.h:74
pcl::Region3D::Region3D
Region3D(Eigen::Vector3f &centroid, Eigen::Matrix3f &covariance, unsigned count)
Constructor for Region3D.
Definition region_3d.h:64
pcl::Region3D::getCurvature
float getCurvature() const
Get the curvature of the region.
Definition region_3d.h:95
pcl::Region3D::getCount
unsigned getCount() const
Get the number of points in the region.
Definition region_3d.h:88
pcl::Region3D::count_
unsigned count_
The number of points in the region.
Definition region_3d.h:115
pcl::Region3D::covariance_
Eigen::Matrix3f covariance_
The covariance of the region.
Definition region_3d.h:112
pcl::Region3D::Region3D
Region3D()
Empty constructor for Region3D.
Definition region_3d.h:55
pcl::Region3D::curvature_
float curvature_
The mean curvature of the region.
Definition region_3d.h:118
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
memory.h
Defines functions, macros and traits for allocating and using memory.
Eigen
Definition bfgs.h:10
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.