Point Cloud Library (PCL)
1.10.0
|
44 #include <pcl/filters/filter_indices.h>
60 template <
typename Po
intT,
typename Po
intNT>
70 using CloudPtr =
typename Cloud::Ptr;
71 using CloudConstPtr =
typename Cloud::ConstPtr;
102 inline NormalsConstPtr
139 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >
scaled_points_;
158 std::pair<int, double> b)
159 {
return (a.second > b.second); }
166 #ifdef PCL_NO_PRECOMPILE
167 #include <pcl/filters/impl/covariance_sampling.hpp>
Defines all the PCL and non-PCL macros used.
This file defines compatibility wrappers for low level I/O functions.
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > scaled_points_
Point Cloud sampling based on the 6D covariances.
void applyFilter(Cloud &output) override
Sample of point indices into a separate PointCloud.
void setNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
unsigned int getNumberOfSamples() const
Get the value of the internal num_samples_ parameter.
PointCloud represents the base class in PCL for storing collections of 3D points.
void setNumberOfSamples(unsigned int samples)
Set number of indices to be sampled.
shared_ptr< CovarianceSampling< PointT, PointNT > > Ptr
shared_ptr< const CovarianceSampling< PointT, PointNT > > ConstPtr
unsigned int num_samples_
Number of indices that will be returned.
bool computeCovarianceMatrix(Eigen::Matrix< double, 6, 6 > &covariance_matrix)
Computes the covariance matrix of the input cloud.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
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)
FilterIndices represents the base class for filters that are about binary point removal.
std::string filter_name_
The filter name.
shared_ptr< const PointCloud< PointT > > ConstPtr
CovarianceSampling()
Empty constructor.
double computeConditionNumber()
Compute the condition number of the input point cloud.
NormalsConstPtr getNormals() const
Get the normals computed on the input point cloud.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.