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_

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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.

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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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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.

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

• vector_average.h
• vector_average.hpp