covarianceFit.h

/*
 Copyright (C) 2021 aniket agarwalla <aniketagarwalla37@gmail.com>
 Copyright (C) 2022 nicolas mellado <nmellado0@gmail.com>
 
 This Source Code Form is subject to the terms of the Mozilla Public
 License, v. 2.0. If a copy of the MPL was not distributed with this
 file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
 
#pragma once
#include "./defines.h"
 
#include <Eigen/Dense>
 
namespace Ponca
{
 
    template <class DataPoint, class _NFilter, typename T>
    class CovarianceFitBase : public T
    {
        PONCA_FITTING_DECLARE_DEFAULT_TYPES
 
    protected:
        enum
        {
            Check = Base::PROVIDES_MEAN_POSITION,
            PROVIDES_POSITION_COVARIANCE
        };
 
    public:
        using MatrixType = typename DataPoint::MatrixType; 
        using Solver = Eigen::SelfAdjointEigenSolver<MatrixType>;
 
    protected:
        // computation data
        MatrixType m_cov{MatrixType::Zero()}; 
        Solver m_solver;                      
    public:
        PONCA_EXPLICIT_CAST_OPERATORS(CovarianceFitBase, covarianceFit)
        PONCA_FITTING_DECLARE_INIT_ADD_FINALIZE
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar surfaceVariation() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar planarity() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar linearity() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar sphericity() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar anisotropy() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar eigenentropy() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar lambda_0() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar lambda_1() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar lambda_2() const;
 
        PONCA_MULTIARCH [[nodiscard]] inline const Solver& solver() const { return m_solver; }
    };
 
    template <class DataPoint, class _NFilter, int DiffType, typename T>
    class CovarianceFitDer : public T
    {
        PONCA_FITTING_DECLARE_DEFAULT_TYPES
        PONCA_FITTING_DECLARE_MATRIX_TYPE
        PONCA_FITTING_DECLARE_DEFAULT_DER_TYPES
 
    protected:
        enum
        {
            Check = Base::PROVIDES_PRIMITIVE_DERIVATIVE && Base::PROVIDES_MEAN_POSITION_DERIVATIVE &&
                    Base::PROVIDES_POSITION_COVARIANCE,
            PROVIDES_POSITION_COVARIANCE_DERIVATIVE
        };
 
    protected:
        MatrixType m_dCov[Base::NbDerivatives];
 
    public:
        PONCA_EXPLICIT_CAST_OPERATORS_DER(CovarianceFitDer, covarianceFitDer)
        PONCA_FITTING_DECLARE_INIT_ADDDER_FINALIZE
    }; // class CovarianceFitDer
 
#include "covarianceFit.hpp"
 
} // namespace Ponca