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centroid.h
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35 
36 #ifndef PCL_COMMON_CENTROID_H_
37 #define PCL_COMMON_CENTROID_H_
38 
39 #include <pcl/point_cloud.h>
40 #include <pcl/point_traits.h>
41 #include <pcl/PointIndices.h>
42 
50 namespace pcl
51 {
60  template <typename PointT> inline unsigned int
61  compute3DCentroid (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &centroid);
62 
72  template <typename PointT> inline unsigned int
73  compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
74  const std::vector<int> &indices, Eigen::Vector4f &centroid);
75 
85  template <typename PointT> inline unsigned int
86  compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
87  const pcl::PointIndices &indices, Eigen::Vector4f &centroid);
88 
102  template <typename PointT> inline unsigned int
103  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
104  const Eigen::Vector4f &centroid,
105  Eigen::Matrix3f &covariance_matrix);
106 
120  template <typename PointT> inline unsigned int
121  computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud,
122  const Eigen::Vector4f &centroid,
123  Eigen::Matrix3f &covariance_matrix);
124 
138  template <typename PointT> inline unsigned int
139  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
140  const std::vector<int> &indices,
141  const Eigen::Vector4f &centroid,
142  Eigen::Matrix3f &covariance_matrix);
143 
157  template <typename PointT> inline unsigned int
158  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
159  const pcl::PointIndices &indices,
160  const Eigen::Vector4f &centroid,
161  Eigen::Matrix3f &covariance_matrix);
162 
178  template <typename PointT> inline unsigned int
179  computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud,
180  const std::vector<int> &indices,
181  const Eigen::Vector4f &centroid,
182  Eigen::Matrix3f &covariance_matrix);
183 
198  template <typename PointT> inline unsigned int
199  computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud,
200  const pcl::PointIndices &indices,
201  const Eigen::Vector4f &centroid,
202  Eigen::Matrix3f &covariance_matrix);
203 
216  template <typename PointT> inline unsigned int
217  computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
218  Eigen::Matrix3f &covariance_matrix,
219  Eigen::Vector4f &centroid);
220 
234  template <typename PointT> inline unsigned int
235  computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
236  const std::vector<int> &indices,
237  Eigen::Matrix3f &covariance_matrix,
238  Eigen::Vector4f &centroid);
239 
253  template <typename PointT> inline unsigned int
254  computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
255  const pcl::PointIndices &indices,
256  Eigen::Matrix3f &covariance_matrix,
257  Eigen::Vector4f &centroid);
258 
270  template <typename PointT> inline unsigned int
271  computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
272  Eigen::Matrix3d &covariance_matrix,
273  Eigen::Vector4d &centroid);
274 
287  template <typename PointT> inline unsigned int
288  computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
289  const std::vector<int> &indices,
290  Eigen::Matrix3d &covariance_matrix,
291  Eigen::Vector4d &centroid);
292 
305  template <typename PointT> inline unsigned int
306  computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
307  const pcl::PointIndices &indices,
308  Eigen::Matrix3d &covariance_matrix,
309  Eigen::Vector4d &centroid);
310 
322  template <typename PointT> inline unsigned int
323  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
324  Eigen::Matrix3f &covariance_matrix);
325 
338  template <typename PointT> inline unsigned int
339  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
340  const std::vector<int> &indices,
341  Eigen::Matrix3f &covariance_matrix);
342 
355  template <typename PointT> inline unsigned int
356  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
357  const pcl::PointIndices &indices,
358  Eigen::Matrix3f &covariance_matrix);
359 
370  template <typename PointT> inline unsigned int
371  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
372  Eigen::Matrix3d &covariance_matrix);
373 
385  template <typename PointT> inline unsigned int
386  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
387  const std::vector<int> &indices,
388  Eigen::Matrix3d &covariance_matrix);
389 
401  template <typename PointT> inline unsigned int
402  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
403  const pcl::PointIndices &indices,
404  Eigen::Matrix3d &covariance_matrix);
405 
412  template <typename PointT> void
413  demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
414  const Eigen::Vector4f &centroid,
415  pcl::PointCloud<PointT> &cloud_out);
416 
424  template <typename PointT> void
425  demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
426  const std::vector<int> &indices,
427  const Eigen::Vector4f &centroid,
428  pcl::PointCloud<PointT> &cloud_out);
429 
438  template <typename PointT> void
439  demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
440  const Eigen::Vector4f &centroid,
441  Eigen::MatrixXf &cloud_out);
442 
452  template <typename PointT> void
453  demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
454  const std::vector<int> &indices,
455  const Eigen::Vector4f &centroid,
456  Eigen::MatrixXf &cloud_out);
457 
467  template <typename PointT> void
468  demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
469  const pcl::PointIndices& indices,
470  const Eigen::Vector4f &centroid,
471  Eigen::MatrixXf &cloud_out);
472 
474  template<typename PointT>
475  struct NdCentroidFunctor
476  {
477  typedef typename traits::POD<PointT>::type Pod;
478 
479  NdCentroidFunctor (const PointT &p, Eigen::VectorXf &centroid)
480  : f_idx_ (0),
481  centroid_ (centroid),
482  p_ (reinterpret_cast<const Pod&>(p)) { }
483 
484  template<typename Key> inline void operator() ()
485  {
486  typedef typename pcl::traits::datatype<PointT, Key>::type T;
487  const uint8_t* raw_ptr = reinterpret_cast<const uint8_t*>(&p_) + pcl::traits::offset<PointT, Key>::value;
488  const T* data_ptr = reinterpret_cast<const T*>(raw_ptr);
489 
490  // Check if the value is invalid
491  if (!pcl_isfinite (*data_ptr))
492  {
493  f_idx_++;
494  return;
495  }
496 
497  centroid_[f_idx_++] += *data_ptr;
498  }
499 
500  private:
501  int f_idx_;
502  Eigen::VectorXf &centroid_;
503  const Pod &p_;
504  };
505 
512  template <typename PointT> inline void
513  computeNDCentroid (const pcl::PointCloud<PointT> &cloud, Eigen::VectorXf &centroid);
514 
522  template <typename PointT> inline void
523  computeNDCentroid (const pcl::PointCloud<PointT> &cloud,
524  const std::vector<int> &indices, Eigen::VectorXf &centroid);
525 
533  template <typename PointT> inline void
534  computeNDCentroid (const pcl::PointCloud<PointT> &cloud,
535  const pcl::PointIndices &indices, Eigen::VectorXf &centroid);
536 
537 }
539 #include <pcl/common/impl/centroid.hpp>
540 
541 #endif //#ifndef PCL_COMMON_CENTROID_H_
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