Principal Component analysis (PCA) class. More...

#include <pcl/common/pca.h>

Inheritance diagram for pcl::PCA< PointT >:

Collaboration diagram for pcl::PCA< PointT >:

Public Types
enum	FLAG { increase, preserve }
	Updating method flag. More...
typedef pcl::PCLBase< PointT >	Base
typedef Base::PointCloud	PointCloud
typedef Base::PointCloudPtr	PointCloudPtr
typedef Base::PointCloudConstPtr	PointCloudConstPtr
typedef Base::PointIndicesPtr	PointIndicesPtr
typedef Base::PointIndicesConstPtr	PointIndicesConstPtr
Public Member Functions
	PCA (bool basis_only=false)
	Default Constructor.
	PCL_DEPRECATED (PCA(const pcl::PointCloud< PointT > &X, bool basis_only=false),"Use PCA (bool basis_only); setInputCloud (X.makeShared ()); instead")
	Constructor with direct computation X input m*n matrix (ie n vectors of R(m)) basis_only flag to compute only the PCA basis.
	PCA (PCA const &pca)
	Copy Constructor.
PCA &	operator= (PCA const &pca)
	Assignment operator.
void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
Eigen::Vector4f &	getMean ()
	Mean accessor.
Eigen::Matrix3f &	getEigenVectors ()
	Eigen Vectors accessor.
Eigen::Vector3f &	getEigenValues ()
	Eigen Values accessor.
Eigen::MatrixXf &	getCoefficients ()
	Coefficients accessor.
void	update (const PointT &input, FLAG flag=preserve)
	update PCA with a new point
void	project (const PointT &input, PointT &projection)
	Project point on the eigenspace.
void	project (const PointCloud &input, PointCloud &projection)
	Project cloud on the eigenspace.
void	reconstruct (const PointT &projection, PointT &input)
	Reconstruct point from its projection.
void	reconstruct (const PointCloud &projection, PointCloud &input)
	Reconstruct cloud from its projection.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointT>
class pcl::PCA< PointT >

Principal Component analysis (PCA) class.

Principal components are extracted by singular values decomposition on the covariance matrix of the centered input cloud. Available data after pca computation are the mean of the input data, the eigenvalues (in descending order) and corresponding eigenvectors.
Other methods allow projection in the eigenspace, reconstruction from eigenspace and update of the eigenspace with a new datum (according Matej Artec, Matjaz Jogan and Ales Leonardis: "Incremental PCA for On-line Visual Learning and Recognition").

Author:: Nizar Sallem

Definition at line 60 of file pca.h.

Member Typedef Documentation

template<typename PointT >

typedef pcl::PCLBase<PointT> pcl::PCA< PointT >::Base

Definition at line 63 of file pca.h.

template<typename PointT >

typedef Base::PointCloud pcl::PCA< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 64 of file pca.h.

template<typename PointT >

typedef Base::PointCloudConstPtr pcl::PCA< PointT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 66 of file pca.h.

template<typename PointT >

typedef Base::PointCloudPtr pcl::PCA< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 65 of file pca.h.

template<typename PointT >

typedef Base::PointIndicesConstPtr pcl::PCA< PointT >::PointIndicesConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 68 of file pca.h.

template<typename PointT >

typedef Base::PointIndicesPtr pcl::PCA< PointT >::PointIndicesPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 67 of file pca.h.

Member Enumeration Documentation

template<typename PointT >

enum pcl::PCA::FLAG

Updating method flag.

Enumerator:

increase	keep the new basis vectors if possible
preserve	preserve subspace dimension

Definition at line 76 of file pca.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::PCA< PointT >::PCA ( bool basis_only = false ) [inline]

Default Constructor.

Parameters:

basis_only flag to compute only the PCA basis

Definition at line 87 of file pca.h.

template<typename PointT >

pcl::PCA< PointT >::PCA ( PCA< PointT > const & pca ) [inline]

Copy Constructor.

Parameters:

[in] pca PCA object

Definition at line 107 of file pca.h.

Member Function Documentation

template<typename PointT >

Eigen::MatrixXf& pcl::PCA< PointT >::getCoefficients ( ) [inline]

Coefficients accessor.

Exceptions:

InitFailedException

Definition at line 186 of file pca.h.

template<typename PointT >

Eigen::Vector3f& pcl::PCA< PointT >::getEigenValues ( ) [inline]

Eigen Values accessor.

Exceptions:

InitFailedException

Definition at line 172 of file pca.h.

template<typename PointT >

Eigen::Matrix3f& pcl::PCA< PointT >::getEigenVectors ( ) [inline]

Eigen Vectors accessor.

Exceptions:

InitFailedException

Definition at line 158 of file pca.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT >

Eigen::Vector4f& pcl::PCA< PointT >::getMean ( ) [inline]

Mean accessor.

Exceptions:

InitFailedException

Definition at line 144 of file pca.h.

template<typename PointT >

PCA& pcl::PCA< PointT >::operator= ( PCA< PointT > const & pca ) [inline]

Assignment operator.

Parameters:

[in] pca PCA object

Definition at line 121 of file pca.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT >

pcl::PCA< PointT >::PCL_DEPRECATED	(	PCA< PointT >(const pcl::PointCloud< PointT > &X, bool basis_only=false)	,
		"Use PCA< PointT > (bool basis_only); setInputCloud (X.makeShared ()); instead"
	)

Constructor with direct computation X input m*n matrix (ie n vectors of R(m)) basis_only flag to compute only the PCA basis.

template<typename PointT >

void pcl::PCA< PointT >::project	(	const PointT &	input,
		PointT &	projection
	)		`[inline]`

Project point on the eigenspace.

Parameters:

[in]	input	point from original dataset
[out]	projection	the point in eigen vectors space

Exceptions:

InitFailedException

Definition at line 175 of file pca.hpp.

template<typename PointT >

void pcl::PCA< PointT >::project	(	const PointCloud &	input,
		PointCloud &	projection
	)		`[inline]`

Project cloud on the eigenspace.

Parameters:

[in]	input	cloud from original dataset
[out]	projection	the cloud in eigen vectors space

Exceptions:

InitFailedException

Definition at line 188 of file pca.hpp.

template<typename PointT >

void pcl::PCA< PointT >::reconstruct	(	const PointT &	projection,
		PointT &	input
	)		`[inline]`

Reconstruct point from its projection.

Parameters:

[in]	projection	point from eigenvector space
[out]	input	reconstructed point

Exceptions:

InitFailedException

Definition at line 217 of file pca.hpp.

template<typename PointT >

void pcl::PCA< PointT >::reconstruct	(	const PointCloud &	projection,
		PointCloud &	input
	)		`[inline]`

Reconstruct cloud from its projection.

Parameters:

[in]	projection	cloud from eigenvector space
[out]	input	reconstructed cloud

Exceptions:

InitFailedException

Definition at line 230 of file pca.hpp.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT >

void pcl::PCA< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 134 of file pca.h.

template<typename PointT >

void pcl::PCA< PointT >::update	(	const PointT &	input,
		FLAG	flag = `preserve`
	)		`[inline]`

update PCA with a new point

Parameters:

[in]	input	input point
[in]	flag	update flag

Exceptions:

InitFailedException

Definition at line 105 of file pca.hpp.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/common/include/pcl/common/pca.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/common/include/pcl/common/impl/pca.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::PCA< PointT >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::PCA< PointT >