Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef PCL_VECTOR_AVERAGE_H 00036 #define PCL_VECTOR_AVERAGE_H 00037 00038 #include <Eigen/Core> 00039 #include <pcl/common/eigen.h> 00040 00041 namespace pcl 00042 { 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