Point Cloud Library (PCL)  1.3.1
pca.h
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00001 /*
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00035 
00036 
00037 #ifndef PCL_PCA_HPP
00038 #define PCL_PCA_HPP
00039 
00040 #include <pcl/point_cloud.h>
00041 
00042 namespace pcl 
00043 {
00055   template <typename PointT>
00056   class PCA 
00057   {
00058     public:
00059     
00061       enum FLAG 
00062       {
00064         increase, 
00066         preserve
00067       };
00068     
00069     
00073       PCA (bool basis_only = false) : compute_done_ (false), basis_only_ (basis_only) 
00074       {}
00075       
00080       PCA(const pcl::PointCloud<PointT>& X, bool basis_only = false) : 
00081         compute_done_ (false), basis_only_ (basis_only)
00082       {
00083         compute (X);
00084       }
00085 
00089       PCA (PCA const & pca_) 
00090       {
00091         mean_         = pca_.mean;
00092         eigenvalues_  = pca_.eigenvalues;
00093         eigenvectors_ = pca_.eigenvectors;
00094         coefficients_ = pca_.coefficients;
00095       }
00096 
00100       inline PCA& operator= (PCA const & pca) 
00101       {
00102         mean_         = pca.mean;
00103         eigenvalues_  = pca.eigenvalues;
00104         eigenvectors_ = pca.eigenvectors;
00105         coefficients_ = pca.coefficients;
00106         return (*this);
00107       }
00108 
00110       inline Eigen::Vector4f& 
00111       getMean () 
00112       {
00113         if (!compute_done_)
00114           PCL_ERROR ("[pcl::PCA::getMean] no results available\n");
00115         return (mean_);
00116       }
00117 
00119       inline Eigen::MatrixXf& 
00120       getEigenVectors () 
00121       {
00122         if (!compute_done_)
00123           PCL_ERROR ("[pcl::PCA::getEigenVectors] no results available\n");
00124         return (eigenvectors_);
00125       }
00126       
00128       inline Eigen::VectorXf& 
00129       getEigenValues ()
00130       {
00131         if (!compute_done_)
00132           PCL_ERROR ("[pcl::PCA::getEigenValues] no results available\n");
00133         return (eigenvalues_);
00134       }
00135       
00137       inline Eigen::MatrixXf& 
00138       getCoefficients () 
00139       {
00140         if (!compute_done_)
00141           PCL_ERROR ("[pcl::PCA::getEigenValues] no results available\n");
00142         return (coefficients_);
00143       }
00144 
00148       inline void 
00149       compute (const pcl::PointCloud<PointT>& cloud);
00150       
00151       
00156       inline void 
00157       update (const PointT& input, FLAG flag = preserve);
00158       
00163       inline void 
00164       project (const PointT& input, PointT& projection) const;
00165       
00170       inline void 
00171       reconstruct (const PointT& projection, PointT& input) const;
00172       
00173     private:
00174       bool compute_done_;
00175       bool basis_only_;
00176       Eigen::MatrixXf eigenvectors_, coefficients_;
00177       Eigen::Vector4f mean_;
00178       Eigen::VectorXf eigenvalues_;
00179   }; // class PCA
00180 } // namespace pcl
00181 
00182 #include "pcl/common/impl/pca.hpp"
00183 
00184 #endif // PCL_PCA_HPP
00185 
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