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Covariance.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
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34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_COMMON_COVARIANCE_H
37 #define INCLUDE_NRT_POINTCLOUD2_COMMON_COVARIANCE_H
38 
39 #include <utility>
41 
42 namespace nrt
43 {
44  //! Computes the covariance matrix for 3d geometry in a point cloud
45  /*! The cloud will be de-meaned as part of this function
46  @param input The input point cloud
47  @param normalize Whether we should normalize the resulting matrix
48  @return The 3x3 covariance matrix
49  @ingroup pointcloudcommon */
50  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, bool normalize = false );
51 
52  //! Computes the covariance matrix for 3d geometry in a point cloud
53  /*! @param input The input point cloud
54  @param centroid The centroid for the input cloud
55  @param normalize Whether we should normalize the resulting matrix
56  @return The 3x3 covariance matrix
57  @ingroup pointcloudcommon */
58  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, PointCloud2::Geometry const & centroid, bool normalize = false );
59 
60  //! Computes the covariance matrix for 3d geometry in a point cloud subset
61  /*! The cloud will be de-meaned as part of this function
62  @param input The input point cloud
63  @param subset The subset to consider
64  @param normalize Whether we should normalize the resulting matrix
65  @return The 3x3 covariance matrix
66  @ingroup pointcloudcommon */
67  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, Indices const subset, bool normalize = false );
68 
69  //! Computes the covariance matrix for 3d geometry in a point cloud subset
70  /*! @param input The input point cloud
71  @param subset The subset to consider
72  @param centroid The centroid for the input cloud subset
73  @param normalize Whether we should normalize the resulting matrix
74  @return The 3x3 covariance matrix
75  @ingroup pointcloudcommon */
76  PointCloud2::Matrix3 computeCovariance( PointCloud2 const input, Indices const subset, PointCloud2::Geometry const & centroid, bool normalize = false );
77 
78  //! Computes the normalized covariance and centroid in one step
79  /*! Uses a one pass variant that is less numerically stable than the two-pass
80  versions used in the computeCovariance functions.
81  @param input The input point cloud
82  @return The 3x3 normalized covariance matrix and the centroid
83  @ingroup pointcloudcommon */
84  std::pair<PointCloud2::Matrix3, PointCloud2::Geometry> computeCovarianceAndCentroid( PointCloud2 const input );
85 
86  //! Computes the normalized covariance and centroid in one step for a subset
87  /*! Uses a one pass variant that is less numerically stable than the two-pass
88  versions used in the computeCovariance functions.
89  @param input The input point cloud
90  @param subset The subset to consider
91  @return The 3x3 normalized covariance matrix and the centroid
92  @ingroup pointcloudcommon */
93  std::pair<PointCloud2::Matrix3, PointCloud2::Geometry> computeCovarianceAndCentroid( PointCloud2 const input, Indices const subset );
94 } // namespace nrt
95 
96 #endif // INCLUDE_NRT_POINTCLOUD2_COMMON_COVARIANCE_H
97 #endif // NRT_HAVE_CLOUD