Esempi in C++ (Cpp) per PCA::compute

Esempio n. 1

File: marker_action.cpp Progetto: ipa-fmw/cob_object_perception

 bool compPCA(pcl::PCA<PointCloud::PointType> &pca, const PointCloud &pc, const float w, const Eigen::Vector2i &o, const Eigen::Vector2f &d) {
   PointCloud tmp;
   for(int x=0; x<w; x++) {
     Eigen::Vector2i p = o + (d*x).cast<int>();
     if(pcl_isfinite(pc(p(0),p(1)).getVector3fMap().sum()))
       tmp.push_back( pc(p(0),p(1)) );
   }
   if(tmp.size()<2) {
     ROS_WARN("no valid points");
     return false;
   }
   pca.compute(tmp);
   return true;
 }