void pushEigenMarker(pcl::PCA<T>& pca,
int& marker_id,
MarkerArray& marker_array,
double scale,
const std::string& frame_id)
{
Marker marker;
marker.lifetime = ros::Duration(0.1);
marker.header.frame_id = frame_id;
marker.ns = "cluster_eigen";
marker.type = Marker::ARROW;
marker.scale.y = 0.01;
marker.scale.z = 0.01;
marker.pose.position.x = pca.getMean().coeff(0);
marker.pose.position.y = pca.getMean().coeff(1);
marker.pose.position.z = pca.getMean().coeff(2);
Eigen::Quaternionf qx, qy, qz;
Eigen::Matrix3f ev = pca.getEigenVectors();
Eigen::Vector3f axis_x(ev.coeff(0, 0), ev.coeff(1, 0), ev.coeff(2, 0));
Eigen::Vector3f axis_y(ev.coeff(0, 1), ev.coeff(1, 1), ev.coeff(2, 1));
Eigen::Vector3f axis_z(ev.coeff(0, 2), ev.coeff(1, 2), ev.coeff(2, 2));
qx.setFromTwoVectors(Eigen::Vector3f(1, 0, 0), axis_x);
qy.setFromTwoVectors(Eigen::Vector3f(1, 0, 0), axis_y);
qz.setFromTwoVectors(Eigen::Vector3f(1, 0, 0), axis_z);
marker.id = marker_id++;
marker.scale.x = pca.getEigenValues().coeff(0) * scale;
marker.pose.orientation.x = qx.x();
marker.pose.orientation.y = qx.y();
marker.pose.orientation.z = qx.z();
marker.pose.orientation.w = qx.w();
marker.color.b = 0.0;
marker.color.g = 0.0;
marker.color.r = 1.0;
marker.color.a = 1.0;
marker_array.markers.push_back(marker);
marker.id = marker_id++;
marker.scale.x = pca.getEigenValues().coeff(1) * scale;
marker.pose.orientation.x = qy.x();
marker.pose.orientation.y = qy.y();
marker.pose.orientation.z = qy.z();
marker.pose.orientation.w = qy.w();
marker.color.b = 0.0;
marker.color.g = 1.0;
marker.color.r = 0.0;
marker_array.markers.push_back(marker);
marker.id = marker_id++;
marker.scale.x = pca.getEigenValues().coeff(2) * scale;
marker.pose.orientation.x = qz.x();
marker.pose.orientation.y = qz.y();
marker.pose.orientation.z = qz.z();
marker.pose.orientation.w = qz.w();
marker.color.b = 1.0;
marker.color.g = 0.0;
marker.color.r = 0.0;
marker_array.markers.push_back(marker);
}
