Created
February 28, 2011 11:45
-
-
Save att88/847214 to your computer and use it in GitHub Desktop.
Compute the Covariance Matrix of a 3D Point Cloud
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| void PointCloud::computeCovarianceMatrix() { | |
| double means[3] = {0, 0, 0}; | |
| for (int i = 0; i < points.size(); i++) | |
| means[0] += points[i].x, | |
| means[1] += points[i].y, | |
| means[2] += points[i].z; | |
| means[0] /= points.size(), means[1] /= points.size(), means[2] /= points.size(); | |
| for (int i = 0; i < 3; i++) | |
| for (int j = 0; j < 3; j++) { | |
| covarianceMatrix[i][j] = 0.0; | |
| for (int k = 0; k < points.size(); k++) | |
| covarianceMatrix[i][j] += (means[i] - points[k].coord(i)) * | |
| (means[j] - points[k].coord(j)); | |
| covarianceMatrix[i][j] /= points.size() - 1; | |
| } | |
| } |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
@atandrau Since the mean of the point cloud is known. Should not it be covarianceMatrix[i][j] /= points.size(); ??