Point Cloud Library (PCL) 1.15.0
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region_3d.h
1/*
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37
38#pragma once
39
40#include <Eigen/Core>
41
42#include <pcl/memory.h>
43#include <pcl/pcl_macros.h>
44
45namespace pcl
46{
47 /** \brief Region3D represents summary statistics of a 3D collection of points.
48 * \author Alex Trevor
49 */
50 template <typename PointT>
52 {
53 public:
54 /** \brief Empty constructor for Region3D. */
55 Region3D () : centroid_ (Eigen::Vector3f::Zero ()), covariance_ (Eigen::Matrix3f::Identity ()), count_ (0)
56 {
57 }
58
59 /** \brief Constructor for Region3D.
60 * \param[in] centroid The centroid of the region.
61 * \param[in] covariance The covariance of the region.
62 * \param[in] count The number of points in the region.
63 */
64 Region3D (Eigen::Vector3f& centroid, Eigen::Matrix3f& covariance, unsigned count)
65 : centroid_ (centroid), covariance_ (covariance), count_ (count)
66 {
67 }
68
69 /** \brief Destructor. */
70 virtual ~Region3D () = default;
71
72 /** \brief Get the centroid of the region. */
73 inline Eigen::Vector3f
74 getCentroid () const
75 {
76 return (centroid_);
77 }
78
79 /** \brief Get the covariance of the region. */
80 inline Eigen::Matrix3f
82 {
83 return (covariance_);
84 }
85
86 /** \brief Get the number of points in the region. */
87 unsigned
88 getCount () const
89 {
90 return (count_);
91 }
92
93 /** \brief Get the curvature of the region. */
94 float
95 getCurvature () const
96 {
97 return (curvature_);
98 }
99
100 /** \brief Set the curvature of the region. */
101 void
102 setCurvature (float curvature)
103 {
104 curvature_ = curvature;
105 }
106
107 protected:
108 /** \brief The centroid of the region. */
109 Eigen::Vector3f centroid_;
110
111 /** \brief The covariance of the region. */
112 Eigen::Matrix3f covariance_;
113
114 /** \brief The number of points in the region. */
115 unsigned count_;
116
117 /** \brief The mean curvature of the region. */
119
120 public:
122 };
123}
Region3D represents summary statistics of a 3D collection of points.
Definition region_3d.h:52
Eigen::Vector3f centroid_
The centroid of the region.
Definition region_3d.h:109
Eigen::Matrix3f getCovariance() const
Get the covariance of the region.
Definition region_3d.h:81
virtual ~Region3D()=default
Destructor.
void setCurvature(float curvature)
Set the curvature of the region.
Definition region_3d.h:102
Eigen::Vector3f getCentroid() const
Get the centroid of the region.
Definition region_3d.h:74
Region3D(Eigen::Vector3f &centroid, Eigen::Matrix3f &covariance, unsigned count)
Constructor for Region3D.
Definition region_3d.h:64
float getCurvature() const
Get the curvature of the region.
Definition region_3d.h:95
unsigned getCount() const
Get the number of points in the region.
Definition region_3d.h:88
unsigned count_
The number of points in the region.
Definition region_3d.h:115
Eigen::Matrix3f covariance_
The covariance of the region.
Definition region_3d.h:112
Region3D()
Empty constructor for Region3D.
Definition region_3d.h:55
float curvature_
The mean curvature of the region.
Definition region_3d.h:118
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
Defines functions, macros and traits for allocating and using memory.
Definition bfgs.h:10
Defines all the PCL and non-PCL macros used.