Public Member Functions | Protected Attributes
pcl::VectorAverage< real, dimension > Class Template Reference

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

#include <vector_average.h>

List of all members.

Public Member Functions

void add (const Eigen::Matrix< real, dimension, 1 > &sample, real weight=1.0)
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
void doPCA (Eigen::Matrix< real, dimension, 1 > &eigen_values) const
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 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
real getAccumulatedWeight () const
const Eigen::Matrix< real,
dimension, dimension > & 
getCovariance () const
void getEigenVector1 (Eigen::Matrix< real, dimension, 1 > &eigen_vector1) const
template<>
void getEigenVector1 (Eigen::Matrix< float, 3, 1 > &eigen_vector1) const
template<>
void getEigenVector1 (Eigen::Matrix< double, 3, 1 > &eigen_vector1) const
const Eigen::Matrix< real,
dimension, 1 > & 
getMean () const
unsigned int getNoOfSamples ()
void reset ()
 VectorAverage ()
 ~VectorAverage ()

Protected Attributes

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

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.


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:


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:18