42 #ifndef PCL_FILTERS_COVARIANCE_SAMPLING_H_ 43 #define PCL_FILTERS_COVARIANCE_SAMPLING_H_ 45 #include <pcl/filters/filter_indices.h> 61 template <
typename Po
intT,
typename Po
intNT>
76 typedef boost::shared_ptr< CovarianceSampling<PointT, PointNT> >
Ptr;
77 typedef boost::shared_ptr< const CovarianceSampling<PointT, PointNT> >
ConstPtr;
103 inline NormalsConstPtr
140 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >
scaled_points_;
159 std::pair<int, double> b)
160 {
return (a.second > b.second); }
163 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
167 #ifdef PCL_NO_PRECOMPILE 168 #include <pcl/filters/impl/covariance_sampling.hpp> unsigned int num_samples_
Number of indices that will be returned.
Point Cloud sampling based on the 6D covariances.
CovarianceSampling()
Empty constructor.
void setNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > scaled_points_
void setNumberOfSamples(unsigned int samples)
Set number of indices to be sampled.
void applyFilter(Cloud &output)
Sample of point indices into a separate PointCloud.
boost::shared_ptr< PointCloud< PointT > > Ptr
FilterIndices represents the base class for filters that are about binary point removal.
NormalsConstPtr input_normals_
The normals computed at each point in the input cloud.
static bool sort_dot_list_function(std::pair< int, double > a, std::pair< int, double > b)
unsigned int getNumberOfSamples() const
Get the value of the internal num_samples_ parameter.
NormalsConstPtr getNormals() const
Get the normals computed on the input point cloud.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
std::string filter_name_
The filter name.
bool computeCovarianceMatrix(Eigen::Matrix< double, 6, 6 > &covariance_matrix)
Computes the covariance matrix of the input cloud.
double computeConditionNumber()
Compute the condition number of the input point cloud.
boost::shared_ptr< const CovarianceSampling< PointT, PointNT > > ConstPtr
boost::shared_ptr< CovarianceSampling< PointT, PointNT > > Ptr