/*!
 * \file FitWeighted.h
 * \date 2018/03/15
 *
 * \author Lin, Chi
 * Contact: lin.chi@hzleaper.com
 *
 *
 * \note
*/

#ifndef __FitWeighted_h_
#define __FitWeighted_h_

#include "CVUtils.h"
#include "CyclopsEnums.h"
#include "StdUtils.h"

#if defined(LITTLE_CPP11)
enum CalcWeightDistType
#else
enum class CalcWeightDistType
#endif
{
	Binary = 0,
	L1,
	L2
};

void calcWeightL2(int count, float* dists, float* weights, float skipThreshold = -1);
void calcWeightL1(int count, float* dists, float* weights, float skipThreshold = -1);
void calcWeightThres(int count, float* dists, float* weights, float skipThreshold = -1);
typedef std::function<void(int, float*, float*, float)> CalcWeightFunc;
CalcWeightFunc getCalcWeightFunc(CalcWeightDistType distType, float skipThreshold);

// return@ here we will return the num of those points involved with fitting
// -1 means failure of detection
CYCLOPS_GEOM_DLLSPEC int fitLineWeighted(const vector<Vec3f>& points, Vec4f& line,
	CalcWeightDistType distType,
	float skipThreshold = -1, // -1 for none, positive value for the max distance of points contribute the iteration
	int maxIterCount = 10,
	float epsEach = 1.f, // final eps = epsEach * point_count
	float termPrecision = 0.01f,
	int minFitCount = 2 
);

CYCLOPS_GEOM_DLLSPEC int fitCircleWeighted(const vector<Vec3f>& points, Vec3f& circle,
	CircleFitAlgo algo,
	CalcWeightDistType distType,
	float skipThreshold = -1, // -1 for none, positive value for the max distance of points contribute the iteration
	int maxIterCount = 10,
	float epsEach = 1.f, // final eps = epsEach * point_count
	int minFitCount = 3 
);

#endif // __FitWeighted_h_