Principal Component analysis (PCA) class. More...

#include <pcl/common/pca.h>

Inheritance diagram for pcl::PCA< PointT >:

Collaboration diagram for pcl::PCA< PointT >:

Public Types
enum	FLAG { increase, preserve }
	Updating method flag. More...

typedef pcl::PCLBase< PointT >	Base

typedef Base::PointCloud	PointCloud

typedef Base::PointCloudPtr	PointCloudPtr

typedef Base::PointCloudConstPtr	PointCloudConstPtr

typedef Base::PointIndicesPtr	PointIndicesPtr

typedef Base::PointIndicesConstPtr	PointIndicesConstPtr

Public Member Functions
	PCA (bool basis_only=false)
	Default Constructor. More...

	PCL_DEPRECATED (PCA(const pcl::PointCloud< PointT > &X, bool basis_only=false),"Use PCA (bool basis_only); setInputCloud (X.makeShared ()); instead")
	Constructor with direct computation X input m*n matrix (ie n vectors of R(m)) basis_only flag to compute only the PCA basis. More...

	PCA (PCA const &pca)
	Copy Constructor. More...

PCA &	operator= (PCA const &pca)
	Assignment operator. More...

void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

Eigen::Vector4f &	getMean ()
	Mean accessor. More...

Eigen::Matrix3f &	getEigenVectors ()
	Eigen Vectors accessor. More...

Eigen::Vector3f &	getEigenValues ()
	Eigen Values accessor. More...

Eigen::MatrixXf &	getCoefficients ()
	Coefficients accessor. More...

void	update (const PointT &input, FLAG flag=preserve)
	update PCA with a new point More...

void	project (const PointT &input, PointT &projection)
	Project point on the eigenspace. More...

void	project (const PointCloud &input, PointCloud &projection)
	Project cloud on the eigenspace. More...

void	reconstruct (const PointT &projection, PointT &input)
	Reconstruct point from its projection. More...

void	reconstruct (const PointCloud &projection, PointCloud &input)
	Reconstruct cloud from its projection. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

template<typename PointT>
class pcl::PCA< PointT >

Principal Component analysis (PCA) class.

Principal components are extracted by singular values decomposition on the covariance matrix of the centered input cloud. Available data after pca computation are the mean of the input data, the eigenvalues (in descending order) and corresponding eigenvectors.
Other methods allow projection in the eigenspace, reconstruction from eigenspace and update of the eigenspace with a new datum (according Matej Artec, Matjaz Jogan and Ales Leonardis: "Incremental PCA for On-line Visual Learning and Recognition").

Author: Nizar Sallem

Definition at line 60 of file pca.h.

Member Typedef Documentation

template<typename PointT >

typedef pcl::PCLBase<PointT> pcl::PCA< PointT >::Base

Definition at line 63 of file pca.h.

template<typename PointT >

typedef Base::PointCloud pcl::PCA< PointT >::PointCloud

Definition at line 64 of file pca.h.

template<typename PointT >

typedef Base::PointCloudConstPtr pcl::PCA< PointT >::PointCloudConstPtr

Definition at line 66 of file pca.h.

template<typename PointT >

typedef Base::PointCloudPtr pcl::PCA< PointT >::PointCloudPtr

Definition at line 65 of file pca.h.

template<typename PointT >

typedef Base::PointIndicesConstPtr pcl::PCA< PointT >::PointIndicesConstPtr

Definition at line 68 of file pca.h.

template<typename PointT >

typedef Base::PointIndicesPtr pcl::PCA< PointT >::PointIndicesPtr

Definition at line 67 of file pca.h.

Member Enumeration Documentation

template<typename PointT >

enum pcl::PCA::FLAG

Updating method flag.

Enumerator
increase	keep the new basis vectors if possible
preserve	preserve subspace dimension

Definition at line 76 of file pca.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::PCA< PointT >::PCA ( bool basis_only = false)

inline

Default Constructor.

Parameters

basis_only flag to compute only the PCA basis

Definition at line 87 of file pca.h.

template<typename PointT >

pcl::PCA< PointT >::PCA ( PCA< PointT > const & pca)

inline

Copy Constructor.

Parameters

[in] pca PCA object

Definition at line 107 of file pca.h.

Member Function Documentation

template<typename PointT >

Eigen::MatrixXf& pcl::PCA< PointT >::getCoefficients ( )

inline

Coefficients accessor.

Exceptions

InitFailedException

Definition at line 186 of file pca.h.

template<typename PointT >

Eigen::Vector3f& pcl::PCA< PointT >::getEigenValues ( )

inline

Eigen Values accessor.

Exceptions

InitFailedException

Definition at line 172 of file pca.h.

template<typename PointT >

Eigen::Matrix3f& pcl::PCA< PointT >::getEigenVectors ( )

inline

Eigen Vectors accessor.

Exceptions

InitFailedException

Definition at line 158 of file pca.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT >

Eigen::Vector4f& pcl::PCA< PointT >::getMean ( )

inline

Mean accessor.

Exceptions

InitFailedException

Definition at line 144 of file pca.h.

template<typename PointT >

PCA& pcl::PCA< PointT >::operator= ( PCA< PointT > const & pca)

inline

Assignment operator.

Parameters

[in] pca PCA object

Definition at line 121 of file pca.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos)

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT >

pcl::PCA< PointT >::PCL_DEPRECATED	(	PCA< PointT >(const pcl::PointCloud< PointT > &X, bool basis_only=false)	,
		"Use PCA< PointT > (bool basis_only); setInputCloud (X.makeShared ()); instead"
	)

Constructor with direct computation X input m*n matrix (ie n vectors of R(m)) basis_only flag to compute only the PCA basis.

template<typename PointT >

void pcl::PCA< PointT >::project	(	const PointT &	input,
		PointT &	projection
	)

inline

Project point on the eigenspace.

Parameters

[in]	input	point from original dataset
[out]	projection	the point in eigen vectors space

Exceptions

InitFailedException

Definition at line 175 of file pca.hpp.

template<typename PointT >

void pcl::PCA< PointT >::project	(	const PointCloud &	input,
		PointCloud &	projection
	)

inline

Project cloud on the eigenspace.

Parameters

[in]	input	cloud from original dataset
[out]	projection	the cloud in eigen vectors space

Exceptions

InitFailedException

Definition at line 188 of file pca.hpp.

template<typename PointT >

void pcl::PCA< PointT >::reconstruct	(	const PointT &	projection,
		PointT &	input
	)

inline

Reconstruct point from its projection.

Parameters

[in]	projection	point from eigenvector space
[out]	input	reconstructed point

Exceptions

InitFailedException

Definition at line 217 of file pca.hpp.

template<typename PointT >

void pcl::PCA< PointT >::reconstruct	(	const PointCloud &	projection,
		PointCloud &	input
	)

inline

Reconstruct cloud from its projection.

Parameters

[in]	projection	cloud from eigenvector space
[out]	input	reconstructed cloud

Exceptions

InitFailedException

Definition at line 230 of file pca.hpp.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT >

void pcl::PCA< PointT >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtual

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 134 of file pca.h.

template<typename PointT >

void pcl::PCA< PointT >::update	(	const PointT &	input,
		FLAG	flag = `preserve`
	)

inline

update PCA with a new point

Parameters

[in]	input	input point
[in]	flag	update flag

Exceptions

InitFailedException

Definition at line 105 of file pca.hpp.

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

/builddir/build/BUILD/PCL-1.6.0-Source/common/include/pcl/common/pca.h
/builddir/build/BUILD/PCL-1.6.0-Source/common/include/pcl/common/impl/pca.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::PCA< PointT >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::PCA< PointT >