Go to the documentation of this file.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 }