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 _WFunctor, 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 _WFunctor, typename T>
using CovarianceLineFit =
                CovarianceLineFitImpl<DataPoint, _WFunctor,
                CovarianceFitBase<DataPoint, _WFunctor,
                MeanPosition<DataPoint, _WFunctor,
                Line<DataPoint, _WFunctor,T>>>>;
 
} //namespace Ponca