iLab Neuromorphic Robotics Toolkit  0.1
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Plane.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) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_COMMON_PLANE_H
37 #define INCLUDE_NRT_POINTCLOUD2_COMMON_PLANE_H
38 
41 
42 namespace nrt
43 {
44  //! Estimates the least-squares plane normal and surface curvature from the eigenvalues and eigevectors
45  //! of a covariance matrix derived from some set of points
46  /*! This function can perform a variable amount of work depending on which information you require.
47  The arguments wrapped in nrt::Optional will only be computed if not equal to nrt::OptionalEmpty.
48 
49  @param[in] covariance The covariance matrix of the points to fit a plane to
50  @param[in] point A point residing on the plane (such as the centroid used to compute the covariance) used to
51  calculate the d plane parameter.
52  @param[in,out] planeParameters The plane parameters for the plane equation: ax + by + cz + d = 0 (a,b,c,d)
53  @param[in,out] variation The ratio of each eigenvalue over the sum of all eigenvalues
54  @param[in,out] eigenVectors The eigenvectors for the covariance matrix
55  @ingroup pointcloudcommon */
56  void solvePlaneParameters( PointCloud2::Matrix3 const & covariance,
57  PointCloud2::Geometry const & point,
58  Optional<PointCloud2::Vector4 &> planeParameters = OptionalEmpty,
59  Optional<PointCloud2::Vector3 &> variation = OptionalEmpty,
60  Optional<PointCloud2::Matrix3 &> eigenVectors = OptionalEmpty );
61 } // namespace nrt
62 
63 #endif // INCLUDE_NRT_POINTCLOUD2_COMMON_PLANE_H
64 #endif // NRT_HAVE_CLOUD