124 lines
3.7 KiB
C
124 lines
3.7 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <Eigen/Core>
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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namespace pcl
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{
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/** \brief Region3D represents summary statistics of a 3D collection of points.
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* \author Alex Trevor
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*/
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template <typename PointT>
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class Region3D
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{
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public:
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/** \brief Empty constructor for Region3D. */
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Region3D () : centroid_ (Eigen::Vector3f::Zero ()), covariance_ (Eigen::Matrix3f::Identity ()), count_ (0)
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{
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}
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/** \brief Constructor for Region3D.
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* \param[in] centroid The centroid of the region.
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* \param[in] covariance The covariance of the region.
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* \param[in] count The number of points in the region.
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*/
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Region3D (Eigen::Vector3f& centroid, Eigen::Matrix3f& covariance, unsigned count)
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: centroid_ (centroid), covariance_ (covariance), count_ (count)
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{
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}
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/** \brief Destructor. */
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virtual ~Region3D () {}
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/** \brief Get the centroid of the region. */
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inline Eigen::Vector3f
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getCentroid () const
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{
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return (centroid_);
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}
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/** \brief Get the covariance of the region. */
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inline Eigen::Matrix3f
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getCovariance () const
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{
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return (covariance_);
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}
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/** \brief Get the number of points in the region. */
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unsigned
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getCount () const
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{
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return (count_);
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}
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/** \brief Get the curvature of the region. */
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float
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getCurvature () const
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{
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return (curvature_);
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}
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/** \brief Set the curvature of the region. */
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void
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setCurvature (float curvature)
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{
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curvature_ = curvature;
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}
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protected:
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/** \brief The centroid of the region. */
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Eigen::Vector3f centroid_;
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/** \brief The covariance of the region. */
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Eigen::Matrix3f covariance_;
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/** \brief The number of points in the region. */
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unsigned count_;
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/** \brief The mean curvature of the region. */
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float curvature_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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