pcl: vector_average.h Source File

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00036 
00037 #ifndef PCL_VECTOR_AVERAGE_H
00038 #define PCL_VECTOR_AVERAGE_H
00039 
00040 #include <pcl/common/eigen.h>
00041 
00042 namespace pcl 
00043 {
00051   template <typename real, int dimension>
00052   class VectorAverage 
00053   {
00054      public:
00055         //-----CONSTRUCTOR&DESTRUCTOR-----
00057         VectorAverage ();
00059         ~VectorAverage () {}
00060         
00061         //-----METHODS-----
00063         inline void 
00064         reset ();
00065         
00067         inline const
00068         Eigen::Matrix<real, dimension, 1>& getMean () const { return mean_;}
00069         
00071         inline const
00072         Eigen::Matrix<real, dimension, dimension>& getCovariance () const { return covariance_;}
00073         
00075         inline real
00076         getAccumulatedWeight () const { return accumulatedWeight_;}
00077         
00079         inline unsigned int
00080         getNoOfSamples () { return noOfSamples_;}
00081         
00083         inline void
00084         add (const Eigen::Matrix<real, dimension, 1>& sample, real weight=1.0);
00085 
00087         inline void
00088         doPCA (Eigen::Matrix<real, dimension, 1>& eigen_values, Eigen::Matrix<real, dimension, 1>& eigen_vector1,
00089                Eigen::Matrix<real, dimension, 1>& eigen_vector2, Eigen::Matrix<real, dimension, 1>& eigen_vector3) const;
00090         
00092         inline void
00093         doPCA (Eigen::Matrix<real, dimension, 1>& eigen_values) const;
00094         
00096         inline void
00097         getEigenVector1 (Eigen::Matrix<real, dimension, 1>& eigen_vector1) const;
00098         
00099         //-----VARIABLES-----
00100         
00101      protected:
00102         //-----METHODS-----
00103         //-----VARIABLES-----
00104         unsigned int noOfSamples_;
00105         real accumulatedWeight_;
00106         Eigen::Matrix<real, dimension, 1> mean_;
00107         Eigen::Matrix<real, dimension, dimension> covariance_;
00108   };
00109 
00110   typedef VectorAverage<float, 2> VectorAverage2f;
00111   typedef VectorAverage<float, 3> VectorAverage3f;
00112   typedef VectorAverage<float, 4> VectorAverage4f;
00113 }  // END namespace
00114 
00115 #include <pcl/common/impl/vector_average.hpp>
00116 
00117 #endif  // #ifndef PCL_VECTOR_AVERAGE_H
00118