Covariance.H

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/*! @file
    @author Shane Grant
    @copyright GNU Public License (GPL v3)
    @section License
    @verbatim
    // ////////////////////////////////////////////////////////////////////////
    //              The iLab Neuromorphic Robotics Toolkit (NRT)             //
    // Copyright 2010-2012 by the University of Southern California (USC)    //
    //                          and the iLab at USC.                         //
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    //                Hedco Neurociences Building, Room HNB-10               //
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    //      See http://ilab.usc.edu for information about this project.      //
    // ////////////////////////////////////////////////////////////////////////
    // This file is part of The iLab Neuromorphic Robotics Toolkit.          //
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    // redistribute it and/or modify it under the terms of the GNU General   //
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    @endverbatim */

#ifdef NRT_HAVE_CLOUD
#ifndef INCLUDE_NRT_POINTCLOUD2_COMMON_COVARIANCE_H
#define INCLUDE_NRT_POINTCLOUD2_COMMON_COVARIANCE_H

#include <utility>
#include <nrt/PointCloud2/PointCloud2.H>

namespace nrt
{
  //! Computes the covariance matrix for 3d geometry in a point cloud
  /*! The cloud will be de-meaned as part of this function
      @param input The input point cloud
      @param normalize Whether we should normalize the resulting matrix
      @return The 3x3 covariance matrix
      @ingroup pointcloudcommon */
  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, bool normalize = false );

  //! Computes the covariance matrix for 3d geometry in a point cloud
  /*! @param input The input point cloud
      @param centroid The centroid for the input cloud
      @param normalize Whether we should normalize the resulting matrix
      @return The 3x3 covariance matrix
      @ingroup pointcloudcommon */
  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, PointCloud2::Geometry const & centroid, bool normalize = false );

  //! Computes the covariance matrix for 3d geometry in a point cloud subset
  /*! The cloud will be de-meaned as part of this function
      @param input The input point cloud
      @param subset The subset to consider
      @param normalize Whether we should normalize the resulting matrix
      @return The 3x3 covariance matrix
      @ingroup pointcloudcommon */
  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, Indices const subset, bool normalize = false );

  //! Computes the covariance matrix for 3d geometry in a point cloud subset
  /*! @param input The input point cloud
      @param subset The subset to consider
      @param centroid The centroid for the input cloud subset
      @param normalize Whether we should normalize the resulting matrix
      @return The 3x3 covariance matrix
      @ingroup pointcloudcommon */
  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, Indices const subset, PointCloud2::Geometry const & centroid, bool normalize = false );

  //! Computes the normalized covariance and centroid in one step
  /*! Uses a one pass variant that is less numerically stable than the two-pass
      versions used in the computeCovariance functions.
      @param input The input point cloud
      @return The 3x3 normalized covariance matrix and the centroid
      @ingroup pointcloudcommon */
  std::pair<PointCloud2::Matrix3, PointCloud2::Geometry> computeCovarianceAndCentroid( PointCloud2 const input );

  //! Computes the normalized covariance and centroid in one step for a subset
  /*! Uses a one pass variant that is less numerically stable than the two-pass
      versions used in the computeCovariance functions.
      @param input The input point cloud
      @param subset The subset to consider
      @return The 3x3 normalized covariance matrix and the centroid
      @ingroup pointcloudcommon */
  std::pair<PointCloud2::Matrix3, PointCloud2::Geometry> computeCovarianceAndCentroid( PointCloud2 const input, Indices const subset );
} // namespace nrt

#endif // INCLUDE_NRT_POINTCLOUD2_COMMON_COVARIANCE_H
#endif // NRT_HAVE_CLOUD