pcl: vector_average.h Source File

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00037 
00038 #ifndef PCL_COMMON_VECTOR_AVERAGE_H
00039 #define PCL_COMMON_VECTOR_AVERAGE_H
00040 
00041 #include <pcl/common/eigen.h>
00042 
00043 namespace pcl 
00044 {
00052   template <typename real, int dimension>
00053   class VectorAverage 
00054   {
00055      public:
00056         //-----CONSTRUCTOR&DESTRUCTOR-----
00058         VectorAverage ();
00060         ~VectorAverage () {}
00061         
00062         //-----METHODS-----
00064         inline void 
00065         reset ();
00066         
00068         inline const
00069         Eigen::Matrix<real, dimension, 1>& getMean () const { return mean_;}
00070         
00072         inline const
00073         Eigen::Matrix<real, dimension, dimension>& getCovariance () const { return covariance_;}
00074         
00076         inline real
00077         getAccumulatedWeight () const { return accumulatedWeight_;}
00078         
00080         inline unsigned int
00081         getNoOfSamples () { return noOfSamples_;}
00082         
00084         inline void
00085         add (const Eigen::Matrix<real, dimension, 1>& sample, real weight=1.0);
00086 
00088         inline void
00089         doPCA (Eigen::Matrix<real, dimension, 1>& eigen_values, Eigen::Matrix<real, dimension, 1>& eigen_vector1,
00090                Eigen::Matrix<real, dimension, 1>& eigen_vector2, Eigen::Matrix<real, dimension, 1>& eigen_vector3) const;
00091         
00093         inline void
00094         doPCA (Eigen::Matrix<real, dimension, 1>& eigen_values) const;
00095         
00097         inline void
00098         getEigenVector1 (Eigen::Matrix<real, dimension, 1>& eigen_vector1) const;
00099         
00100         //-----VARIABLES-----
00101         
00102      protected:
00103         //-----METHODS-----
00104         //-----VARIABLES-----
00105         unsigned int noOfSamples_;
00106         real accumulatedWeight_;
00107         Eigen::Matrix<real, dimension, 1> mean_;
00108         Eigen::Matrix<real, dimension, dimension> covariance_;
00109   };
00110 
00111   typedef VectorAverage<float, 2> VectorAverage2f;
00112   typedef VectorAverage<float, 3> VectorAverage3f;
00113   typedef VectorAverage<float, 4> VectorAverage4f;
00114 }  // END namespace
00115 
00116 #include <pcl/common/impl/vector_average.hpp>
00117 
00118 #endif  // #ifndef PCL_VECTOR_AVERAGE_H
00119