a_shape_quadric.h

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/*
         Copyright 2010-2020 Pierre SMARS (smars@yuntech.edu.tw)
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
         the Free Software Foundation, either version 2 of the License, or
         (at your option) any later version.
 
         This program is distributed in the hope that it will be useful,
         but WITHOUT ANY WARRANTY; without even the implied warranty of
         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
         GNU General Public License for more details.
 
         You should have received a copy of the GNU General Public License
         along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _SHAPE_QUADRIC_H_
#define _SHAPE_QUADRIC_H_
 
// .NAME a_shape_quadric
// .SECTION Author
// Pierre Smars
#include "a_shape.h"
#include <vnl/vnl_double_3.h> 
#include <vnl/vnl_double_3x3.h> 
#include <vnl/algo/vnl_symmetric_eigensystem.h>
 
class a_shape_quadric : public a_shape
{
        public:
                a_shape_quadric();
                virtual const std::string classname() const {return "a_shape_quadric";}
    static const std::string help();
                virtual void p9pts(const a_point * pt); //quadric passes through 9 points
                void p9pts(const a_point & p1, const a_point & p2, const a_point & p3,
                                const a_point & p4, const a_point & p5, const a_point & p6,
                                const a_point & p7, const a_point & p8, const a_point & p9);
                a_point center() const;
                a_point principals() const;
                a_point n1() const;
                a_point n2() const;
                a_point n3() const;
                virtual a_point closest_point(const a_point p) const;
                virtual double dist_point(a_point p) const;
                void random_hint(const std::vector<a_point>& pts);
                void fit_cloud(std::vector<a_point>& pts, short nl = 1);
                virtual void export_matrices() const;
                void export_points(const unsigned int nseg, const std::vector<a_point>& pts) const;
                void export_triangles(const unsigned int nseg, const std::vector<a_point>& pts) const;
                //      void export_triangles(const std::vector<a_point>& pts) const;
                vnl_double_3x3 A() const;
                void Ap();
                vnl_double_3 b() const;
                void init_dist();
                void getA() const {std::cout << A_;}
                void getb() const {std::cout << b_;}
                void getAp() const {std::cout << Ap_;}
        protected:
                vnl_double_3x3 A_;
                vnl_double_3x3 Ap_;
                vnl_double_3 b_;
                double d0_,d1_,d2_;
                vnl_matrix<double> R_;
};
 
#endif