@@ -111,17 +111,17 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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struct Leaf
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{
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/* * \brief Constructor.
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- * Sets \ref nr_points, \ref icov_, \ref mean_ and \ref evals_ to 0 and \ref cov_ and \ref
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- * evecs_ to the identity matrix
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+ * Sets \ref nr_points, \ref icov_, \ref mean_ and \ref eigen_values_ to 0 and \ref cov_ and
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+ * \ref eigen_vectors_ to the identity matrix
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*/
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Leaf ()
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: nr_points(0 ),
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// mean_ (Eigen::Vector3d::Zero ()),
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centroid ()
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// cov_ (Eigen::Matrix3d::Identity ()),
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// icov_ (Eigen::Matrix3d::Zero ()),
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- // evecs_ (Eigen::Matrix3d::Identity ()),
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- // evals_ (Eigen::Vector3d::Zero ())
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+ // eigen_vectors_ (Eigen::Matrix3d::Identity ()),
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+ // eigen_values_ (Eigen::Vector3d::Zero ())
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{
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}
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@@ -153,23 +153,23 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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// }
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/* * \brief Get the eigen vectors of the voxel covariance.
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- * \note Order corresponds with \ref getEvals
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+ * \note Order corresponds with \ref getEigenValues
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* \return matrix whose columns contain eigen vectors
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*/
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// Eigen::Matrix3d
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- // getEvecs () const
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+ // getEigenVectors () const
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// {
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- // return (evecs_ );
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+ // return (eigen_vectors_ );
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// }
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/* * \brief Get the eigen values of the voxel covariance.
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- * \note Order corresponds with \ref getEvecs
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+ * \note Order corresponds with \ref getEigenVectors
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* \return vector of eigen values
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*/
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// Eigen::Vector3d
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- // getEvals () const
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+ // getEigenValues () const
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// {
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- // return (evals_ );
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+ // return (eigen_values_ );
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// }
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/* * \brief Get the number of points contained by this voxel.
@@ -195,10 +195,10 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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// Eigen::Matrix3d icov_;
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/* * \brief Eigen vectors of voxel covariance matrix */
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- // Eigen::Matrix3d evecs_ ;
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+ // Eigen::Matrix3d eigen_vectors_ ;
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/* * \brief Eigen values of voxel covariance matrix */
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- // Eigen::Vector3d evals_ ;
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+ // Eigen::Vector3d eigen_values_ ;
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PointCloud points;
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};
@@ -217,7 +217,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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: searchable_(true ),
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// min_points_per_voxel_ (6),
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min_points_per_voxel_(1 ),
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- // min_covar_eigenvalue_mult_ (0.01),
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+ // min_cov_eigenvalue_mult_ (0.01),
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leaves_(),
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voxel_centroids_(),
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voxel_centroids_leaf_indices_(),
@@ -258,12 +258,12 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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inline int getMinPointPerVoxel () { return min_points_per_voxel_; }
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/* * \brief Set the minimum allowable ratio between eigenvalues to prevent singular covariance
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- * matrices. \param[in] min_covar_eigenvalue_mult the minimum allowable ratio between eigenvalues
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+ * matrices. \param[in] min_cov_eigenvalue_mult the minimum allowable ratio between eigenvalues
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*/
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// inline void
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- // setCovEigValueInflationRatio (double min_covar_eigenvalue_mult )
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+ // setCovEigValueInflationRatio (double min_cov_eigenvalue_mult )
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// {
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- // min_covar_eigenvalue_mult_ = min_covar_eigenvalue_mult ;
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+ // min_cov_eigenvalue_mult_ = min_cov_eigenvalue_mult ;
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// }
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/* * \brief Get the minimum allowable ratio between eigenvalues to prevent singular covariance
@@ -272,7 +272,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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// inline double
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// getCovEigValueInflationRatio ()
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// {
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- // return min_covar_eigenvalue_mult_ ;
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+ // return min_cov_eigenvalue_mult_ ;
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// }
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/* * \brief Filter cloud and initializes voxel structure.
@@ -517,7 +517,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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/* * \brief Minimum allowable ratio between eigenvalues to prevent singular covariance
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* matrices. */
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- // double min_covar_eigenvalue_mult_ ;
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+ // double min_cov_eigenvalue_mult_ ;
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/* * \brief Voxel structure containing all leaf nodes (includes voxels with less than
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* a sufficient number of points). */
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