covarianceLineFit.h

/*
 Copyright (C) 2021 aniket agarwalla <aniketagarwalla37@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 "./linePrimitive.h" // used to define CovarianceLineFit
#include "./mean.h"          // used to define CovarianceLineFit
#include "./covarianceFit.h" // used to define CovarianceLineFit
 
#include <Eigen/Dense>
 
namespace Ponca
{
 
    template <class DataPoint, class _NFilter, typename T>
    class CovarianceLineFitImpl : public T
    {
        PONCA_FITTING_DECLARE_DEFAULT_TYPES
        PONCA_FITTING_DECLARE_MATRIX_TYPE
 
    protected:
        enum
        {
            check = Base::PROVIDES_LINE && Base::PROVIDES_POSITION_COVARIANCE,
        };
 
    public:
        PONCA_EXPLICIT_CAST_OPERATORS(CovarianceLineFitImpl, covarianceLineFit)
 
        PONCA_FITTING_APIDOC_FINALIZE
        PONCA_MULTIARCH inline FIT_RESULT finalize()
        {
            static const int smallestEigenValue = DataPoint::Dim - 1;
            if (Base::finalize() == STABLE)
            {
                if (Base::line().isValid())
                    Base::m_eCurrentState = CONFLICT_ERROR_FOUND;
                Base::setLine(Base::barycenterLocal(),
                              Base::m_solver.eigenvectors().col(smallestEigenValue).normalized());
            }
            return Base::m_eCurrentState;
        }
        PONCA_FITTING_IS_SIGNED(false)
    };
 
    template <class DataPoint, class _NFilter, typename T>
    using CovarianceLineFit = CovarianceLineFitImpl<
        DataPoint, _NFilter,
        CovarianceFitBase<DataPoint, _NFilter, MeanPosition<DataPoint, _NFilter, Line<DataPoint, _NFilter, T>>>>;
 
} // namespace Ponca