global_optimization_pdm.h

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#ifndef NURBS_OPTIMIZATION_H
#define NURBS_OPTIMIZATION_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 GlobalOptimization
    {
    public:

      struct Parameter
      {
        double interior_weight;
        double interior_smoothness;

        double boundary_weight;
        double boundary_smoothness;

        double closing_weight;
        double closing_sigma;
        unsigned closing_samples;

        double common_weight;

        Parameter (double intW = 1.0, double intS = 1e-6, double bndW = 0.0, double bndS = 1e-6, double cloW = 0.0,
                   double cloSig = 0.0, unsigned cloSam = 0, double comW = 0.0) :
          interior_weight (intW), interior_smoothness (intS), boundary_weight (bndW), boundary_smoothness (bndS),
              closing_weight (cloW), closing_sigma (cloSig), closing_samples (cloSam), common_weight (comW)
        {
        }
      };

      GlobalOptimization (const std::vector<NurbsDataSurface*> &data, const std::vector<ON_NurbsSurface*> &nurbs);

      void
      setCommonBoundary (const vector_vec3d &boundary, const vector_vec2i &nurbs_indices);

      virtual void
      assemble (Parameter params = Parameter ());

      virtual void
      solve (double damp = 1.0);

      virtual void
      updateSurf (double damp);

      void
      setInvMapParams (double im_max_steps, double im_accuracy);

      void
      refine (unsigned id, int dim);

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

    protected:

      std::vector<NurbsDataSurface*> m_data;
      std::vector<ON_NurbsSurface*> m_nurbs;

      void
      assembleCommonParams (unsigned id1, double weight, unsigned &row);

      virtual void
      assembleCommonBoundaries (unsigned id1, double weight, unsigned &row);

      virtual void
      assembleClosingBoundaries (unsigned id, unsigned samples, double sigma, double weight, unsigned &row);

      virtual void
      assembleInteriorPoints (unsigned id, int ncps, double weight, unsigned &row);

      virtual void
      assembleBoundaryPoints (unsigned id, int ncps, double weight, unsigned &row);

      virtual void
      assembleRegularisation (unsigned id, int ncps, double wCageRegInt, double wCageRegBnd, unsigned &row);

      virtual void
      addParamConstraint (const Eigen::Vector2i &id, const Eigen::Vector2d &params1, const Eigen::Vector2d &params2,
                          double weight, unsigned &row);

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

      virtual void
      addCageInteriorRegularisation (unsigned id, int ncps, double weight, unsigned &row);

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

      virtual void
      addCageCornerRegularisation (unsigned id, int ncps, double weight, unsigned &row);

    protected:
      NurbsSolve m_solver;
      bool m_quiet;
      unsigned m_ncols, m_nrows;
      int im_max_steps;
      double im_accuracy;

      // index routines
      int
      grc2gl (const ON_NurbsSurface &nurbs, int I, int J)
      {
        return nurbs.CVCount (1) * I + J;
      } // global row/col index to global lexicographic index
      int
      lrc2gl (const ON_NurbsSurface &nurbs, int E, int F, int i, int j)
      {
        return grc2gl (nurbs, E + i, F + j);
      } // local row/col index to global lexicographic index
      int
      gl2gr (const ON_NurbsSurface &nurbs, int A)
      {
        return (static_cast<int> (A / nurbs.CVCount (1)));
      } // global lexicographic in global row index
      int
      gl2gc (const ON_NurbsSurface &nurbs, int A)
      {
        return (static_cast<int> (A % nurbs.CVCount (1)));
      } // global lexicographic in global col index
    };

  }
}
#endif