Struct VoxelGridCovariance::Leaf
Defined in File voxel_grid_covariance_omp.h
Nested Relationships
This struct is a nested type of Template Class VoxelGridCovariance.
Struct Documentation
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struct Leaf
Simple structure to hold a centroid, covariance and the number of points in a leaf. Inverse covariance, eigen vectors and eigen values are precomputed.
Public Functions
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inline Leaf()
Constructor. Sets nr_points, icov_, mean_ and evals_ to 0 and cov_ and evecs_ to the identity matrix.
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inline Eigen::Matrix3d getCov() const
Get the voxel covariance.
- Returns:
covariance matrix
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inline Eigen::Matrix3d getInverseCov() const
Get the inverse of the voxel covariance.
- Returns:
inverse covariance matrix
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inline Eigen::Vector3d getMean() const
Get the voxel centroid.
- Returns:
centroid
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inline Eigen::Matrix3d getEvecs() const
Get the eigen vectors of the voxel covariance.
Note
Order corresponds with getEvals
- Returns:
matrix whose columns contain eigen vectors
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inline Eigen::Vector3d getEvals() const
Get the eigen values of the voxel covariance.
Note
Order corresponds with getEvecs
- Returns:
vector of eigen values
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inline int getPointCount() const
Get the number of points contained by this voxel.
- Returns:
number of points
Public Members
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int nr_points
Number of points contained by voxel.
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Eigen::Vector3d mean_
3D voxel centroid
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Eigen::Matrix3d cov_
Voxel covariance matrix.
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Eigen::Matrix3d icov_
Inverse of voxel covariance matrix.
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Eigen::Matrix3d evecs_
Eigen vectors of voxel covariance matrix.
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Eigen::Vector3d evals_
Eigen values of voxel covariance matrix.
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inline Leaf()