|
Mat | addNoisePC (Mat pc, double scale) |
|
void | computeBboxStd (Mat pc, float xRange[2], float yRange[2], float zRange[2]) |
|
int | computeNormalsPC3d (const Mat &PC, Mat &PCNormals, const int NumNeighbors, const bool FlipViewpoint, const double viewpoint[3]) |
| Compute the normals of an arbitrary point cloud computeNormalsPC3d uses a plane fitting approach to smoothly compute local normals. Normals are obtained through the eigenvector of the covariance matrix, corresponding to the smallest eigen value. If PCNormals is provided to be an Nx6 matrix, then no new allocation is made, instead the existing memory is overwritten. More...
|
|
void | destroyFlann (void *flannIndex) |
|
void | getRandomPose (double Pose[16]) |
|
hashtable_int * | hashtable_int_clone (hashtable_int *hashtbl) |
|
hashtable_int * | hashtableCreate (size_t size, size_t(*hashfunc)(unsigned int)) |
|
void | hashtableDestroy (hashtable_int *hashtbl) |
|
void * | hashtableGet (hashtable_int *hashtbl, KeyType key) |
|
hashnode_i * | hashtableGetBucketHashed (hashtable_int *hashtbl, KeyType key) |
|
int | hashtableInsert (hashtable_int *hashtbl, KeyType key, void *data) |
|
int | hashtableInsertHashed (hashtable_int *hashtbl, KeyType key, void *data) |
|
void | hashtablePrint (hashtable_int *hashtbl) |
|
hashtable_int * | hashtableRead (FILE *f) |
|
int | hashtableRemove (hashtable_int *hashtbl, KeyType key) |
|
int | hashtableResize (hashtable_int *hashtbl, size_t size) |
|
int | hashtableWrite (const hashtable_int *hashtbl, const size_t dataSize, FILE *f) |
|
void * | indexPCFlann (Mat pc) |
|
Mat | loadPLYSimple (const char *fileName, int withNormals) |
| Load a PLY file. More...
|
|
static unsigned int | next_power_of_two (unsigned int value) |
| Round up to the next highest power of 2. More...
|
|
Mat | normalize_pc (Mat pc, float scale) |
|
Mat | normalizePCCoeff (Mat pc, float scale, float *Cx, float *Cy, float *Cz, float *MinVal, float *MaxVal) |
|
void | queryPCFlann (void *flannIndex, Mat &pc, Mat &indices, Mat &distances) |
|
Mat | samplePCByQuantization (Mat pc, float xrange[2], float yrange[2], float zrange[2], float sample_step_relative, int weightByCenter=0) |
|
Mat | samplePCUniform (Mat PC, int sampleStep) |
|
Mat | samplePCUniformInd (Mat PC, int sampleStep, std::vector< int > &indices) |
|
Mat | transformPCPose (Mat pc, double Pose[16]) |
|
Mat | transPCCoeff (Mat pc, float scale, float Cx, float Cy, float Cz, float MinVal, float MaxVal) |
|
void | writePLY (Mat PC, const char *fileName) |
| Write a point cloud to PLY file. More...
|
|