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// This code is in the public domain -- Ignacio Castaño <castano@gmail.com>
#pragma once
#ifndef NV_MATH_FITTING_H
#define NV_MATH_FITTING_H
#include "Vector.h"
#include "Plane.h"
namespace nv
{
namespace Fit
{
Vector3 computeCentroid(int n, const Vector3 * points);
Vector3 computeCentroid(int n, const Vector3 * points, const float * weights, const Vector3 & metric);
Vector4 computeCentroid(int n, const Vector4 * points);
Vector4 computeCentroid(int n, const Vector4 * points, const float * weights, const Vector4 & metric);
Vector3 computeCovariance(int n, const Vector3 * points, float * covariance);
Vector3 computeCovariance(int n, const Vector3 * points, const float * weights, const Vector3 & metric, float * covariance);
Vector4 computeCovariance(int n, const Vector4 * points, float * covariance);
Vector4 computeCovariance(int n, const Vector4 * points, const float * weights, const Vector4 & metric, float * covariance);
Vector3 computePrincipalComponent_PowerMethod(int n, const Vector3 * points);
Vector3 computePrincipalComponent_PowerMethod(int n, const Vector3 * points, const float * weights, const Vector3 & metric);
Vector3 computePrincipalComponent_EigenSolver(int n, const Vector3 * points);
Vector3 computePrincipalComponent_EigenSolver(int n, const Vector3 * points, const float * weights, const Vector3 & metric);
Vector4 computePrincipalComponent_EigenSolver(int n, const Vector4 * points);
Vector4 computePrincipalComponent_EigenSolver(int n, const Vector4 * points, const float * weights, const Vector4 & metric);
Vector3 computePrincipalComponent_SVD(int n, const Vector3 * points);
Vector4 computePrincipalComponent_SVD(int n, const Vector4 * points);
Plane bestPlane(int n, const Vector3 * points);
bool isPlanar(int n, const Vector3 * points, float epsilon = NV_EPSILON);
bool eigenSolveSymmetric3(const float matrix[6], float eigenValues[3], Vector3 eigenVectors[3]);
bool eigenSolveSymmetric4(const float matrix[10], float eigenValues[4], Vector4 eigenVectors[4]);
// Returns number of clusters [1-4].
int compute4Means(int n, const Vector3 * points, const float * weights, const Vector3 & metric, Vector3 * cluster);
}
} // nv namespace
#endif // NV_MATH_FITTING_H
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