Eigen.h

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#pragma once

#include <Eigen/Core>
#include <Eigen/StdVector>
#include <tuple>
#include <vector>

namespace Eigen {

typedef Eigen::Matrix<double, 6, 6> Matrix6d;
typedef Eigen::Matrix<double, 6, 1> Vector6d;
typedef Eigen::Matrix<uint8_t, 3, 1> Vector3uint8;

typedef Eigen::Matrix<double, 6, 6, Eigen::DontAlign> Matrix6d_u;
typedef Eigen::Matrix<double, 4, 4, Eigen::DontAlign> Matrix4d_u;

}  // namespace Eigen

namespace open3d {
namespace utility {

using Matrix4d_allocator = Eigen::aligned_allocator<Eigen::Matrix4d>;
using Matrix6d_allocator = Eigen::aligned_allocator<Eigen::Matrix6d>;
using Vector2d_allocator = Eigen::aligned_allocator<Eigen::Vector2d>;
using Vector3uint8_allocator = Eigen::aligned_allocator<Eigen::Vector3uint8>;
using Vector4i_allocator = Eigen::aligned_allocator<Eigen::Vector4i>;
using Vector4d_allocator = Eigen::aligned_allocator<Eigen::Vector4d>;
using Vector6d_allocator = Eigen::aligned_allocator<Eigen::Vector6d>;

Eigen::Matrix4d TransformVector6dToMatrix4d(const Eigen::Vector6d &input);

Eigen::Vector6d TransformMatrix4dToVector6d(const Eigen::Matrix4d &input);

std::tuple<bool, Eigen::VectorXd> SolveLinearSystemPSD(
        const Eigen::MatrixXd &A,
        const Eigen::VectorXd &b,
        bool prefer_sparse = false,
        bool check_symmetric = false,
        bool check_det = false,
        bool check_psd = false);

std::tuple<bool, Eigen::Matrix4d> SolveJacobianSystemAndObtainExtrinsicMatrix(
        const Eigen::Matrix6d &JTJ, const Eigen::Vector6d &JTr);

std::tuple<bool, std::vector<Eigen::Matrix4d, Matrix4d_allocator>>
SolveJacobianSystemAndObtainExtrinsicMatrixArray(const Eigen::MatrixXd &JTJ,
                                                 const Eigen::VectorXd &JTr);

template <typename MatType, typename VecType>
std::tuple<MatType, VecType, double> ComputeJTJandJTr(
        std::function<void(int, VecType &, double &, double &)> f,
        int iteration_num,
        bool verbose = true);

template <typename MatType, typename VecType>
std::tuple<MatType, VecType, double> ComputeJTJandJTr(
        std::function<
                void(int,
                     std::vector<VecType, Eigen::aligned_allocator<VecType>> &,
                     std::vector<double> &,
                     std::vector<double> &)> f,
        int iteration_num,
        bool verbose = true);

Eigen::Matrix3d RotationMatrixX(double radians);
Eigen::Matrix3d RotationMatrixY(double radians);
Eigen::Matrix3d RotationMatrixZ(double radians);

Eigen::Vector3uint8 ColorToUint8(const Eigen::Vector3d &color);
Eigen::Vector3d ColorToDouble(uint8_t r, uint8_t g, uint8_t b);
Eigen::Vector3d ColorToDouble(const Eigen::Vector3uint8 &rgb);

template <typename IdxType>
Eigen::Matrix3d ComputeCovariance(const std::vector<Eigen::Vector3d> &points,
                                  const std::vector<IdxType> &indices);

template <typename IdxType>
std::tuple<Eigen::Vector3d, Eigen::Matrix3d> ComputeMeanAndCovariance(
        const std::vector<Eigen::Vector3d> &points,
        const std::vector<IdxType> &indices);
}  // namespace utility
}  // namespace open3d