quadric.h

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#ifndef QUADRIC_H
#define QUADRIC_H

#include <Eigen/Dense>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <vector>


extern "C" void dggev_(const char* JOBVL, const char* JOBVR, const int* N, const double* A, const int* LDA,
                       const double* B, const int* LDB, double* ALPHAR, double* ALPHAI, double* BETA, double* VL,
                       const int* LDVL, double* VR, const int* LDVR, double* WORK, const int* LWORK, int* INFO);


typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloud;


class Quadric
{
public:

  Quadric()
  {
  }

  Quadric(const std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d> >& T_cams,
          const PointCloud::Ptr& input, const Eigen::Vector3d& sample, bool is_deterministic);
  
  void findTaubinNormalAxis(const std::vector<int> &indices, const Eigen::VectorXi& cam_source);
        
        void fitQuadric(const std::vector<int>& indices);

        void setInputCloud(const PointCloud::Ptr& input)
        {
                this->input_ = input;
        }
        
        void print();
        
        void plotAxes(void* viewer_void, int id) const;
        
        const Eigen::Vector3d& getSample() const
        {
                return sample_;
        }
        
        const Eigen::Vector3d& getBinormal() const
        {
                return binormal_;
        }
        
        const Eigen::Vector3d& getCurvatureAxis() const
        {
                return curvature_axis_;
        }
        
        const Eigen::Vector3d& getNormal() const
        {
                return normal_;
        }


private:

        void findAverageNormalAxis(const Eigen::MatrixXd& normals);
        
        void unpackQuadric();
        
  bool solveGeneralizedEigenProblem(const Eigen::MatrixXd& A, const Eigen::MatrixXd& B, Eigen::MatrixXd& v,
                                    Eigen::MatrixXd& lambda);

  bool is_deterministic_; 
  Eigen::Matrix3Xd cam_origins_; 
  Eigen::Vector3d sample_; 
  int majority_cam_source_; 
  PointCloud::Ptr input_; 
  Eigen::Vector3d curvature_axis_, normal_, binormal_; 
  Eigen::Matrix<double, 10, 1> parameters_; 
  Eigen::Vector3d centroid_; 
  Eigen::Matrix3d covariance_matrix_; 
  double normals_ratio_; 
  
  static const int TAUBIN_MATRICES_SIZE = 10; 
};

#endif // PCL_FEATURES_CURVATURE_ESTIMATION_TAUBIN_H_