Vector Normalization(Covariance Matrix, mass points)
23 Mar 2022 | calculus
정규화란 무언가를 표준화 시키거나 다른 것과 비교하기 쉽도록 바꾸는 것을 의미합니다
Vector Normalization는 벡터에 대한 크기를 구하는 것이다.
벡터에 대한 크기를 가지고 우리는 특정 데이터를 표준화 할 수 있기 때문에 좀더 정확한 데이터 처리에 대한 결과를 얻을 수 있다.
데이터에 대한 표준화를 하지 않는다면 연산량과 데이터에 대한 튀는 값이 발생할 수 있기 떄문에 표준화 작업이 필요하다.
즉, normalization을 한다는 것은 크기를 구하여서 표준화 작업을 하겠다라고 이해하면 좋겠다.
예제로 Covariance Matrix를 구할때 Normalization Covariance(Mass points -> vector between masspoints and point -> distance += norm(normal vector) -> avg_distance = distance/number of points - > ratio = sqrt(2)/avg_distance -> each point *= ratio -> build covarinace matrix -> SVD(PCA) -> eigen vector and eigen value -> scale = norm(eigen vector -> eigen vactor = eigen_vector/norm)
covariance normalization 관련 코드
// Apply Least-Squares plane fitting
void FitPlaneLSQ(MatrixReaderWriter& mrw,
vector<int>& inliers,
Mat& plane)
{
vector<Point3d> normalizedPoints;
normalizedPoints.reserve(inliers.size());
// Calculating the mass point of the points
Point3d masspoint(0, 0, 0);
for (const auto& inlierIdx : inliers)
{
Point3d p;
p.x = mrw.data[mrw.columnNum * inlierIdx];
p.y = mrw.data[mrw.columnNum * inlierIdx + 1];
p.z = mrw.data[mrw.columnNum * inlierIdx + 2];
masspoint += p;
normalizedPoints.emplace_back(p);
}
masspoint = masspoint * (1.0 / inliers.size());
// Move the point cloud to have the origin in their mass point
for (auto& point : normalizedPoints)
point -= masspoint;
// Calculating the average distance from the origin
double averageDistance = 0.0;
for (auto& point : normalizedPoints)
{
averageDistance += cv::norm(point);
// norm(point) = sqrt(point.x * point.x + point.y * point.y + point.z * point.z)
}
averageDistance /= normalizedPoints.size();
const double ratio = sqrt(2) / averageDistance;
// Making the average distance to be sqrt(2)
for (auto& point : normalizedPoints)
point *= ratio;
// Now, we should solve the equation.
cv::Mat A(normalizedPoints.size(), 3, CV_64F);
// Building the coefficient matrix
for (size_t pointIdx = 0; pointIdx < normalizedPoints.size(); ++pointIdx)
{
const size_t& rowIdx = pointIdx;
A.at<double>(rowIdx, 0) = normalizedPoints[pointIdx].x;
A.at<double>(rowIdx, 1) = normalizedPoints[pointIdx].y;
A.at<double>(rowIdx, 2) = normalizedPoints[pointIdx].z;
}
cv::Mat evals, evecs;
cv::eigen(A.t() * A, evals, evecs);
const cv::Mat& normal = evecs.row(2); // the normal of the line is the eigenvector corresponding to the smallest eigenvalue
const double& a = normal.at<double>(0),
& b = normal.at<double>(1),
& c = normal.at<double>(2);
Point3d normalP(a, b, c);
const double d = -normalP.ddot(masspoint);
plane.at<double>(0) = a;
plane.at<double>(1) = b;
plane.at<double>(2) = c;
plane.at<double>(3) = d;
}
정규화란 무언가를 표준화 시키거나 다른 것과 비교하기 쉽도록 바꾸는 것을 의미합니다
Vector Normalization는 벡터에 대한 크기를 구하는 것이다.
벡터에 대한 크기를 가지고 우리는 특정 데이터를 표준화 할 수 있기 때문에 좀더 정확한 데이터 처리에 대한 결과를 얻을 수 있다.
데이터에 대한 표준화를 하지 않는다면 연산량과 데이터에 대한 튀는 값이 발생할 수 있기 떄문에 표준화 작업이 필요하다.
즉, normalization을 한다는 것은 크기를 구하여서 표준화 작업을 하겠다라고 이해하면 좋겠다.
예제로 Covariance Matrix를 구할때 Normalization Covariance(Mass points -> vector between masspoints and point -> distance += norm(normal vector) -> avg_distance = distance/number of points - > ratio = sqrt(2)/avg_distance -> each point *= ratio -> build covarinace matrix -> SVD(PCA) -> eigen vector and eigen value -> scale = norm(eigen vector -> eigen vactor = eigen_vector/norm)
covariance normalization 관련 코드
// Apply Least-Squares plane fitting
void FitPlaneLSQ(MatrixReaderWriter& mrw,
vector<int>& inliers,
Mat& plane)
{
vector<Point3d> normalizedPoints;
normalizedPoints.reserve(inliers.size());
// Calculating the mass point of the points
Point3d masspoint(0, 0, 0);
for (const auto& inlierIdx : inliers)
{
Point3d p;
p.x = mrw.data[mrw.columnNum * inlierIdx];
p.y = mrw.data[mrw.columnNum * inlierIdx + 1];
p.z = mrw.data[mrw.columnNum * inlierIdx + 2];
masspoint += p;
normalizedPoints.emplace_back(p);
}
masspoint = masspoint * (1.0 / inliers.size());
// Move the point cloud to have the origin in their mass point
for (auto& point : normalizedPoints)
point -= masspoint;
// Calculating the average distance from the origin
double averageDistance = 0.0;
for (auto& point : normalizedPoints)
{
averageDistance += cv::norm(point);
// norm(point) = sqrt(point.x * point.x + point.y * point.y + point.z * point.z)
}
averageDistance /= normalizedPoints.size();
const double ratio = sqrt(2) / averageDistance;
// Making the average distance to be sqrt(2)
for (auto& point : normalizedPoints)
point *= ratio;
// Now, we should solve the equation.
cv::Mat A(normalizedPoints.size(), 3, CV_64F);
// Building the coefficient matrix
for (size_t pointIdx = 0; pointIdx < normalizedPoints.size(); ++pointIdx)
{
const size_t& rowIdx = pointIdx;
A.at<double>(rowIdx, 0) = normalizedPoints[pointIdx].x;
A.at<double>(rowIdx, 1) = normalizedPoints[pointIdx].y;
A.at<double>(rowIdx, 2) = normalizedPoints[pointIdx].z;
}
cv::Mat evals, evecs;
cv::eigen(A.t() * A, evals, evecs);
const cv::Mat& normal = evecs.row(2); // the normal of the line is the eigenvector corresponding to the smallest eigenvalue
const double& a = normal.at<double>(0),
& b = normal.at<double>(1),
& c = normal.at<double>(2);
Point3d normalP(a, b, c);
const double d = -normalP.ddot(masspoint);
plane.at<double>(0) = a;
plane.at<double>(1) = b;
plane.at<double>(2) = c;
plane.at<double>(3) = d;
}
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