GLineSegment2D.cc

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00001 #include "GLineSegment2D.h"
00002 #include <limits>
00003 
00004 namespace AprilTags {
00005 
00006 GLineSegment2D::GLineSegment2D(const std::pair<float,float>& p0Arg, const std::pair<float,float>& p1Arg)
00007 : line(p0Arg,p1Arg), p0(p0Arg), p1(p1Arg), weight() {}
00008 
00009 GLineSegment2D GLineSegment2D::lsqFitXYW(const std::vector<XYWeight>& xyweight) {
00010   GLine2D gline = GLine2D::lsqFitXYW(xyweight);
00011   float maxcoord = -std::numeric_limits<float>::infinity();
00012   float mincoord = std::numeric_limits<float>::infinity();;
00013   
00014   for (unsigned int i = 0; i < xyweight.size(); i++) {
00015     std::pair<float,float> p(xyweight[i].x, xyweight[i].y);
00016     float coord = gline.getLineCoordinate(p);
00017     maxcoord = std::max(maxcoord, coord);
00018     mincoord = std::min(mincoord, coord);
00019   }
00020   
00021   std::pair<float,float> minValue = gline.getPointOfCoordinate(mincoord);
00022   std::pair<float,float> maxValue = gline.getPointOfCoordinate(maxcoord);
00023   return GLineSegment2D(minValue,maxValue);
00024 }
00025 
00026 } // namespace