covariancePlaneFit.h

/*
 Copyright (C) 2014 Nicolas Mellado <nmellado0@gmail.com>
 Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 
 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 "./plane.h"
#include "./primitive.h"
#include "./mean.h"          // used to define CovarianceLineFit
#include "./covarianceFit.h" // use to define CovariancePlaneFit
 
#include <Eigen/Eigenvalues>
 
namespace Ponca
{
 
    template <class DataPoint, class _NFilter, typename T>
    class CovariancePlaneFitImpl : public T
    {
        PONCA_FITTING_DECLARE_DEFAULT_TYPES
        PONCA_FITTING_DECLARE_MATRIX_TYPE
 
    protected:
        enum
        {
            Check = Base::PROVIDES_PLANE && Base::PROVIDES_POSITION_COVARIANCE,
            PROVIDES_TANGENT_PLANE_BASIS
        };
 
    public:
        PONCA_EXPLICIT_CAST_OPERATORS(CovariancePlaneFitImpl, covariancePlaneFit)
        PONCA_FITTING_DECLARE_FINALIZE
        PONCA_FITTING_IS_SIGNED(false)
 
        /**************************************************************************/
        /* Results                                                                */
        /**************************************************************************/
 
        
        PONCA_MULTIARCH inline VectorType worldToTangentPlane(const VectorType& _q,
                                                              bool _isPositionVector = true) const;
 
        PONCA_MULTIARCH inline VectorType tangentPlaneToWorld(const VectorType& _q,
                                                              bool _isPositionVector = true) const;
    }; // class CovariancePlaneFitImpl
 
    template <class DataPoint, class _NFilter, typename T>
    using CovariancePlaneFit = CovariancePlaneFitImpl<
        DataPoint, _NFilter,
        CovarianceFitBase<DataPoint, _NFilter, MeanPosition<DataPoint, _NFilter, Plane<DataPoint, _NFilter, T>>>>;
 
    template <class DataPoint, class _NFilter, int DiffType, typename T>
    class CovariancePlaneDerImpl : public T
    {
        PONCA_FITTING_DECLARE_DEFAULT_TYPES
        PONCA_FITTING_DECLARE_MATRIX_TYPE
        PONCA_FITTING_DECLARE_DEFAULT_DER_TYPES
        static_assert(DataPoint::Dim == 3, "CovariancePlaneDer is only valid in 3D");
 
    protected:
        enum
        {
            Check = Base::PROVIDES_PLANE & Base::PROVIDES_POSITION_COVARIANCE_DERIVATIVE,
            PROVIDES_COVARIANCE_PLANE_DERIVATIVE, 
            PROVIDES_NORMAL_DERIVATIVE
        };
 
    private:
        VectorArray m_dNormal{VectorArray::Zero()}; 
        ScalarArray m_dDist{ScalarArray::Zero()};   
    public:
        PONCA_EXPLICIT_CAST_OPERATORS_DER(CovariancePlaneDerImpl, covariancePlaneDer)
 
        
        PONCA_MULTIARCH FIT_RESULT finalize();
 
        /**************************************************************************/
        /* Use results                                                            */
        /**************************************************************************/
 
        // \brief Returns the derivatives of the scalar field at the evaluation point
        PONCA_MULTIARCH [[nodiscard]] inline ScalarArray dPotential() const { return m_dDist; }
 
        PONCA_MULTIARCH [[nodiscard]] inline VectorArray dNormal() const { return m_dNormal; }
 
    }; // class CovariancePlaneDer
 
    template <class DataPoint, class _NFilter, int DiffType, typename T>
    using CovariancePlaneDer = CovariancePlaneDerImpl<
        DataPoint, _NFilter, DiffType,
        CovarianceFitDer<DataPoint, _NFilter, DiffType, MeanPositionDer<DataPoint, _NFilter, DiffType, T>>>;
 
#include "covariancePlaneFit.hpp"
 
} // namespace Ponca