covariance_sampling.h

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#ifndef PCL_FILTERS_COVARIANCE_SAMPLING_H_
#define PCL_FILTERS_COVARIANCE_SAMPLING_H_

#include <pcl/filters/filter_indices.h>

namespace pcl
{
  template <typename PointT, typename PointNT>
  class CovarianceSampling : public FilterIndices<PointT>
  {
      using FilterIndices<PointT>::filter_name_;
      using FilterIndices<PointT>::getClassName;
      using FilterIndices<PointT>::indices_;
      using FilterIndices<PointT>::input_;
      using FilterIndices<PointT>::initCompute;

      typedef typename FilterIndices<PointT>::PointCloud Cloud;
      typedef typename Cloud::Ptr CloudPtr;
      typedef typename Cloud::ConstPtr CloudConstPtr;
      typedef typename pcl::PointCloud<PointNT>::ConstPtr NormalsConstPtr;

    public:
      typedef boost::shared_ptr< CovarianceSampling<PointT, PointNT> > Ptr;
      typedef boost::shared_ptr< const CovarianceSampling<PointT, PointNT> > ConstPtr;
 
      CovarianceSampling ()
      { filter_name_ = "CovarianceSampling"; }

      inline void
      setNumberOfSamples (unsigned int samples)
      { num_samples_ = samples; }

      inline unsigned int
      getNumberOfSamples () const
      { return (num_samples_); }

      inline void
      setNormals (const NormalsConstPtr &normals)
      { input_normals_ = normals; }

      inline NormalsConstPtr
      getNormals () const
      { return (input_normals_); }



      double
      computeConditionNumber ();

      static double
      computeConditionNumber (const Eigen::Matrix<double, 6, 6> &covariance_matrix);

      bool
      computeCovarianceMatrix (Eigen::Matrix<double, 6, 6> &covariance_matrix);

    protected:
      unsigned int num_samples_;

      NormalsConstPtr input_normals_;

      std::vector<Eigen::Vector3f> scaled_points_;

      bool
      initCompute ();

      void
      applyFilter (Cloud &output);

      void
      applyFilter (std::vector<int> &indices);

      static bool
      sort_dot_list_function (std::pair<int, double> a,
                              std::pair<int, double> b)
      { return (a.second > b.second); }

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/covariance_sampling.hpp>
#endif


#endif /* PCL_FILTERS_COVARIANCE_SAMPLING_H_ */