fitting_sphere_pdm.h

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#ifndef NURBS_FITTING_SPHERE_H
#define NURBS_FITTING_SPHERE_H

#include <pcl/surface/on_nurbs/nurbs_tools.h>
#include <pcl/surface/on_nurbs/nurbs_data.h>
#include <pcl/surface/on_nurbs/nurbs_solve.h>

namespace pcl
{
  namespace on_nurbs
  {

    class FittingSphere
    {
    public:

      ON_TextLog m_out;
      ON_NurbsSurface m_nurbs;
      NurbsDataSurface *m_data;

      FittingSphere (int order, NurbsDataSurface *data);

      FittingSphere (NurbsDataSurface *data, const ON_NurbsSurface &ns);

      void
      assemble (double smoothness = 0.000001f);

      void
      solve (double damp = 1.0);

      void
      updateSurf (double damp);

      void
      setInvMapParams (int in_max_steps, double invMapInt_accuracy);

      inline void
      setQuiet (bool val)
      {
        m_quiet = val;
        m_solver.setQuiet (val);
      }

      static ON_NurbsSurface
      initNurbsSphere (int order, NurbsDataSurface *data, Eigen::Vector3d pole_axis = Eigen::Vector3d (0.0, 0.0, 1.0));

      static std::vector<double>
      getElementVector (const ON_NurbsSurface &nurbs, int dim);

      static Eigen::Vector2d
      inverseMapping (const ON_NurbsSurface &nurbs, const Eigen::Vector3d &pt, const Eigen::Vector2d &hint,
                      double &error, Eigen::Vector3d &p, Eigen::Vector3d &tu, Eigen::Vector3d &tv, int maxSteps = 100,
                      double accuracy = 1e-6, bool quiet = true);

      static Eigen::Vector2d
      findClosestElementMidPoint (const ON_NurbsSurface &nurbs, const Eigen::Vector3d &pt);

    protected:

      void
      init ();

      void
      assembleInterior (double wInt, unsigned &row);

      void
      addPointConstraint (const Eigen::Vector2d &params, const Eigen::Vector3d &point, double weight, unsigned &row);

      void
      addCageInteriorRegularisation (double weight, unsigned &row);

      void
      addCageBoundaryRegularisation (double weight, int side, unsigned &row);

    private:
      NurbsSolve m_solver;
      bool m_quiet;

      int in_max_steps;
      double in_accuracy;

      // index routines
      int
      grc2gl (int I, int J)
      {
        int cp_red = (m_nurbs.m_order[1] - 2);
        int ncpj = (m_nurbs.m_cv_count[1] - 2 * cp_red);
        return ncpj * I + (J % ncpj);
      } // global row/col index to global lexicographic index
      int
      lrc2gl (int E, int F, int i, int j)
      {
        return grc2gl (E + i, F + j);
      } // local row/col index to global lexicographic index
      int
      gl2gr (int A)
      {
        return (A / m_nurbs.CVCount (1));
      } // global lexicographic in global row index
      int
      gl2gc (int A)
      {
        return (A % m_nurbs.CVCount (1));
      } // global lexicographic in global col index

    };

  }
}

#endif /* NURBS_FITTING_SPHERE_H */