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 _WFunctor, 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                                                                */
    /**************************************************************************/
 
    
    template <bool ignoreTranslation = false>
    PONCA_MULTIARCH inline VectorType worldToTangentPlane(const VectorType &_q) const;
 
    template <bool ignoreTranslation = false>
    PONCA_MULTIARCH inline VectorType tangentPlaneToWorld(const VectorType &_q) const;
}; //class CovariancePlaneFitImpl
 
    template < class DataPoint, class _WFunctor, typename T>
    using CovariancePlaneFit =
    CovariancePlaneFitImpl<DataPoint, _WFunctor,
            CovarianceFitBase<DataPoint, _WFunctor,
                    MeanPosition<DataPoint, _WFunctor,
                            Plane<DataPoint, _WFunctor,T>>>>;
 
template < class DataPoint, class _WFunctor, 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 inline ScalarArray dPotential() const { return m_dDist; }
 
    PONCA_MULTIARCH inline VectorArray dNormal() const { return m_dNormal; }
 
}; //class CovariancePlaneDer
 
 
template < class DataPoint, class _WFunctor, int DiffType, typename T>
using CovariancePlaneDer =
CovariancePlaneDerImpl<DataPoint, _WFunctor, DiffType,
        CovarianceFitDer<DataPoint, _WFunctor, DiffType,
                MeanPositionDer<DataPoint, _WFunctor, DiffType, T>>>;
 
#include "covariancePlaneFit.hpp"
 
} //namespace Ponca