glim::CloudCovarianceEstimation Class Reference

Point covariance estimation. More...

#include <cloud_covariance_estimation.hpp>

Public Member Functions
	CloudCovarianceEstimation (const int num_threads=1)
void	estimate (const std::vector< Eigen::Vector4d > &points, const std::vector< int > &neighbors, std::vector< Eigen::Vector4d > &normals, std::vector< Eigen::Matrix4d > &covs) const
	Estimate point normals and covariances.
void	estimate (const std::vector< Eigen::Vector4d > &points, const std::vector< int > &neighbors, const int k_neighbors, std::vector< Eigen::Vector4d > &normals, std::vector< Eigen::Matrix4d > &covs) const
	Estimate point normals and covariances.
std::vector< Eigen::Matrix4d >	estimate (const std::vector< Eigen::Vector4d > &points, const std::vector< int > &neighbors, const int k_neighbors) const
	Estimate point covariances.
std::vector< Eigen::Matrix4d >	estimate (const std::vector< Eigen::Vector4d > &points, const std::vector< int > &neighbors) const
	Estimate point covariances.
Eigen::Matrix4d	regularize (const Eigen::Matrix4d &cov, Eigen::Vector3d *eigenvalues=nullptr, Eigen::Matrix3d *eigenvectors=nullptr) const
	Regularize a covariance matrix.

Detailed Description

Point covariance estimation.

Member Function Documentation

estimate() [1/2]

void glim::CloudCovarianceEstimation::estimate	(	const std::vector< Eigen::Vector4d > &	points,
		const std::vector< int > &	neighbors,
		const int	k_neighbors,
		std::vector< Eigen::Vector4d > &	normals,
		std::vector< Eigen::Matrix4d > &	covs
	)		const

Estimate point normals and covariances.

Parameters

points	Input points
neighbors	Neighbor indices (must be N * m, where N is the number of points)
k_neighbors	Number of neighbors used for estimation (must be <= m)
normals	[output] Estimated normals
covs	[output] Estimated covariances

estimate() [2/2]

void glim::CloudCovarianceEstimation::estimate	(	const std::vector< Eigen::Vector4d > &	points,
		const std::vector< int > &	neighbors,
		std::vector< Eigen::Vector4d > &	normals,
		std::vector< Eigen::Matrix4d > &	covs
	)		const

Estimate point normals and covariances.

Parameters

points	Input points
neighbors	Neighbor indices (must be N * k, where N is the number of points)
normals	[output] Estimated normals
covs	[output] Estimated covariances

regularize()

Eigen::Matrix4d glim::CloudCovarianceEstimation::regularize	(	const Eigen::Matrix4d &	cov,
		Eigen::Vector3d *	eigenvalues = nullptr,
		Eigen::Matrix3d *	eigenvectors = nullptr
	)		const

Regularize a covariance matrix.

Parameters

cov	Input covariance matrix
eigenvalues	[output] Eigenvalues of the covariance matrix
eigenvectors	[output] Eigenvectors of the covariance matrix

Returns

Regularized covariance matrix

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The documentation for this class was generated from the following file:

• /home/runner/work/glim/glim/include/glim/common/cloud_covariance_estimation.hpp