Public Member Functions | Protected Attributes

pcl::VectorAverage< real, dimension > Class Template Reference
[Module common]

Calculates the weighted average and the covariance matrix. More...

#include <pcl/common/vector_average.h>

List of all members.

Public Member Functions

 VectorAverage ()
 Constructor - dimension gives the size of the vectors to work with.
 ~VectorAverage ()
 Destructor.
void reset ()
 Reset the object to work with a new data set.
const Eigen::Matrix< real,
dimension, 1 > & 
getMean () const
 Get the mean of the added vectors.
const Eigen::Matrix< real,
dimension, dimension > & 
getCovariance () const
 Get the covariance matrix of the added vectors.
real getAccumulatedWeight () const
 Get the summed up weight of all added vectors.
unsigned int getNoOfSamples ()
 Get the number of added vectors.
void add (const Eigen::Matrix< real, dimension, 1 > &sample, real weight=1.0)
 Add a new sample.
void doPCA (Eigen::Matrix< real, dimension, 1 > &eigen_values, Eigen::Matrix< real, dimension, 1 > &eigen_vector1, Eigen::Matrix< real, dimension, 1 > &eigen_vector2, Eigen::Matrix< real, dimension, 1 > &eigen_vector3) const
 Do Principal component analysis.
void doPCA (Eigen::Matrix< real, dimension, 1 > &eigen_values) const
 Do Principal component analysis.
void getEigenVector1 (Eigen::Matrix< real, dimension, 1 > &eigen_vector1) const
 Get the eigenvector corresponding to the smallest eigenvalue.
template<>
void doPCA (Eigen::Matrix< float, 3, 1 > &eigen_values, Eigen::Matrix< float, 3, 1 > &eigen_vector1, Eigen::Matrix< float, 3, 1 > &eigen_vector2, Eigen::Matrix< float, 3, 1 > &eigen_vector3) const
template<>
void doPCA (Eigen::Matrix< float, 3, 1 > &eigen_values) const
template<>
void getEigenVector1 (Eigen::Matrix< float, 3, 1 > &eigen_vector1) const
template<>
void doPCA (Eigen::Matrix< double, 3, 1 > &eigen_values, Eigen::Matrix< double, 3, 1 > &eigen_vector1, Eigen::Matrix< double, 3, 1 > &eigen_vector2, Eigen::Matrix< double, 3, 1 > &eigen_vector3) const
template<>
void doPCA (Eigen::Matrix< double, 3, 1 > &eigen_values) const
template<>
void getEigenVector1 (Eigen::Matrix< double, 3, 1 > &eigen_vector1) const

Protected Attributes

unsigned int noOfSamples_
real accumulatedWeight_
Eigen::Matrix< real, dimension, 1 > mean_
Eigen::Matrix< real, dimension,
dimension > 
covariance_

Detailed Description

template<typename real, int dimension>
class pcl::VectorAverage< real, dimension >

Calculates the weighted average and the covariance matrix.

A class to calculate the weighted average and the covariance matrix of a set of vectors with given weights. The original data is not saved. Mean and covariance are calculated iteratively.

Author:
Bastian Steder

Definition at line 52 of file vector_average.h.


Constructor & Destructor Documentation

template<typename real , int dimension>
pcl::VectorAverage< real, dimension >::VectorAverage (  ) 

Constructor - dimension gives the size of the vectors to work with.

Definition at line 38 of file vector_average.hpp.

template<typename real , int dimension>
pcl::VectorAverage< real, dimension >::~VectorAverage (  )  [inline]

Destructor.

Definition at line 59 of file vector_average.h.


Member Function Documentation

template<typename real , int dimension>
void pcl::VectorAverage< real, dimension >::add ( const Eigen::Matrix< real, dimension, 1 > &  sample,
real  weight = 1.0 
) [inline]

Add a new sample.

Definition at line 53 of file vector_average.hpp.

template<typename real , int dimension>
void pcl::VectorAverage< real, dimension >::doPCA ( Eigen::Matrix< real, dimension, 1 > &  eigen_values  )  const [inline]

Do Principal component analysis.

Definition at line 98 of file vector_average.hpp.

template<>
void pcl::VectorAverage< float, 3 >::doPCA ( Eigen::Matrix< float, 3, 1 > &  eigen_values,
Eigen::Matrix< float, 3, 1 > &  eigen_vector1,
Eigen::Matrix< float, 3, 1 > &  eigen_vector2,
Eigen::Matrix< float, 3, 1 > &  eigen_vector3 
) const [inline]

Definition at line 137 of file vector_average.hpp.

template<>
void pcl::VectorAverage< float, 3 >::doPCA ( Eigen::Matrix< float, 3, 1 > &  eigen_values  )  const [inline]

Definition at line 148 of file vector_average.hpp.

template<typename real , int dimension>
void pcl::VectorAverage< real, dimension >::doPCA ( Eigen::Matrix< real, dimension, 1 > &  eigen_values,
Eigen::Matrix< real, dimension, 1 > &  eigen_vector1,
Eigen::Matrix< real, dimension, 1 > &  eigen_vector2,
Eigen::Matrix< real, dimension, 1 > &  eigen_vector3 
) const [inline]

Do Principal component analysis.

Definition at line 74 of file vector_average.hpp.

template<>
void pcl::VectorAverage< double, 3 >::doPCA ( Eigen::Matrix< double, 3, 1 > &  eigen_values,
Eigen::Matrix< double, 3, 1 > &  eigen_vector1,
Eigen::Matrix< double, 3, 1 > &  eigen_vector2,
Eigen::Matrix< double, 3, 1 > &  eigen_vector3 
) const [inline]

Definition at line 167 of file vector_average.hpp.

template<>
void pcl::VectorAverage< double, 3 >::doPCA ( Eigen::Matrix< double, 3, 1 > &  eigen_values  )  const [inline]

Definition at line 178 of file vector_average.hpp.

template<typename real , int dimension>
real pcl::VectorAverage< real, dimension >::getAccumulatedWeight (  )  const [inline]

Get the summed up weight of all added vectors.

Definition at line 76 of file vector_average.h.

template<typename real , int dimension>
const Eigen::Matrix<real, dimension, dimension>& pcl::VectorAverage< real, dimension >::getCovariance (  )  const [inline]

Get the covariance matrix of the added vectors.

Definition at line 72 of file vector_average.h.

template<typename real , int dimension>
void pcl::VectorAverage< real, dimension >::getEigenVector1 ( Eigen::Matrix< real, dimension, 1 > &  eigen_vector1  )  const [inline]

Get the eigenvector corresponding to the smallest eigenvalue.

Definition at line 111 of file vector_average.hpp.

template<>
void pcl::VectorAverage< float, 3 >::getEigenVector1 ( Eigen::Matrix< float, 3, 1 > &  eigen_vector1  )  const [inline]

Definition at line 154 of file vector_average.hpp.

template<>
void pcl::VectorAverage< double, 3 >::getEigenVector1 ( Eigen::Matrix< double, 3, 1 > &  eigen_vector1  )  const [inline]

Definition at line 184 of file vector_average.hpp.

template<typename real , int dimension>
const Eigen::Matrix<real, dimension, 1>& pcl::VectorAverage< real, dimension >::getMean (  )  const [inline]

Get the mean of the added vectors.

Definition at line 68 of file vector_average.h.

template<typename real , int dimension>
unsigned int pcl::VectorAverage< real, dimension >::getNoOfSamples (  )  [inline]

Get the number of added vectors.

Definition at line 80 of file vector_average.h.

template<typename real , int dimension>
void pcl::VectorAverage< real, dimension >::reset (  )  [inline]

Reset the object to work with a new data set.

Definition at line 44 of file vector_average.hpp.


Member Data Documentation

template<typename real , int dimension>
real pcl::VectorAverage< real, dimension >::accumulatedWeight_ [protected]

Definition at line 105 of file vector_average.h.

template<typename real , int dimension>
Eigen::Matrix<real, dimension, dimension> pcl::VectorAverage< real, dimension >::covariance_ [protected]

Definition at line 107 of file vector_average.h.

template<typename real , int dimension>
Eigen::Matrix<real, dimension, 1> pcl::VectorAverage< real, dimension >::mean_ [protected]

Definition at line 106 of file vector_average.h.

template<typename real , int dimension>
unsigned int pcl::VectorAverage< real, dimension >::noOfSamples_ [protected]

Definition at line 104 of file vector_average.h.


The documentation for this class was generated from the following files: