80 setIndices (
const IndicesPtr& indices)
override;
117 setAngleStep (
const float step);
121 getAngleStep ()
const;
133 getNormalizePointMassFlag ()
const;
145 getPointMass ()
const;
192 getEigenVectors (Eigen::Vector3f&
major, Eigen::Vector3f&
middle, Eigen::Vector3f&
minor)
const;
206 getEccentricity (std::vector <float>&
eccentricity)
const;
214 getMassCenter (Eigen::Vector3f&
mass_center)
const;
225 rotateVector (
const Eigen::Vector3f& vector,
const Eigen::Vector3f&
axis,
const float angle, Eigen::Vector3f&
rotated_vector)
const;
306 Eigen::Vector3f mean_value_;
309 Eigen::Vector3f major_axis_;
312 Eigen::Vector3f middle_axis_;
315 Eigen::Vector3f minor_axis_;
327 std::vector <float> moment_of_inertia_;
330 std::vector <float> eccentricity_;
345 Eigen::Vector3f obb_position_;
348 Eigen::Matrix3f obb_rotational_matrix_;
unsigned int computeCovarianceMatrix(const pcl::PointCloud< PointT > &cloud, const Eigen::Matrix< Scalar, 4, 1 > ¢roid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix)
Compute the 3x3 covariance matrix of a given set of points.