//Placeholder for the 3x3 covariance matrix at each surface patch
Eigen::Matrix3f covariance_matrix;
//16-bytes aligned placeholder for the XYZ centroid of a surface patch
Eigen::Vector4f xyz_centroid;
//Estimate the XYZ centroid
compute3DCentroid (cloud, xyz_centroid);
//Compute the 3x3 covariance matrix
computeCovarianceMatrix (cloud, xyz_centroid, covariance_matrix);
所用到的点云数据转协方差矩阵,提取特征(搜索)
最新推荐文章于 2024-01-01 00:30:00 发布