pcl::VectorAverage< real, dimension > Class Template Reference

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

#include <pcl/common/vector_average.h>

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

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 40 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 58 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 79 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 103 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 142 of file vector_average.hpp.

template<>

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

inline

Definition at line 153 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 172 of file vector_average.hpp.

template<>

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

inline

Definition at line 183 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 116 of file vector_average.hpp.

template<>

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

inline

Definition at line 159 of file vector_average.hpp.

template<>

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

inline

Definition at line 189 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 49 of file vector_average.hpp.

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

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