fitting_curve_2d_apdm.h

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#ifndef NURBS_FITTING_CURVE_2D_APDM_H
#define NURBS_FITTING_CURVE_2D_APDM_H

#include <pcl/pcl_exports.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 PCL_EXPORTS FittingCurve2dAPDM
    {
      public:

        struct Parameter
        {
          double interior_sigma2;
          double smoothness;
          double closest_point_weight;
          double closest_point_sigma2;
          unsigned closest_point_resolution;
          double smooth_concavity;
          double rScale;
          Parameter () :
            interior_sigma2 (0.1), smoothness (0.1), closest_point_weight (0.1), closest_point_sigma2 (0.1),
                closest_point_resolution (0), smooth_concavity (1.0), rScale (1.0)
          {
          }
        };

        struct FitParameter
        {
          pcl::on_nurbs::FittingCurve2dAPDM::Parameter param;
          double addCPsAccuracy;        // add CPs at points where this threshold is exceeded
          unsigned addCPsIteration;     // add CPs at every "addCPsIteration" iteration
          unsigned maxCPs;              // maximum number of CPs

          double accuracy;              // threshold for incremental change of CPs (termination criterion)
          unsigned iterations;          // maximum number of fitting iterations
        };

        ON_TextLog m_out;
        ON_NurbsCurve m_nurbs;
        NurbsDataCurve2d *m_data;

        FittingCurve2dAPDM (int order, NurbsDataCurve2d *data);

        FittingCurve2dAPDM (NurbsDataCurve2d *data, const ON_NurbsCurve &nc);

        static int
        findElement (double xi, const std::vector<double> &elements);

        void
        refine ();

        void
        refine (double xi);

        void
        fitting (FitParameter &param);

        virtual void
        assemble (const Parameter &parameter);

        virtual double
        solve (double damp = 1.0);

        virtual double
        updateCurve (double damp);

        void
        addCPsOnClosestPointViolation (double max_error);

        static ON_NurbsCurve
        removeCPsOnLine (const ON_NurbsCurve &nurbs, double min_curve_th = -0.9);

        static ON_NurbsCurve
        initCPsNurbsCurve2D (int order, const vector_vec2d &cps);

        static ON_NurbsCurve
        initNurbsCurve2D (int order, const vector_vec2d &data, int ncps = 0, double radiusF = 1.0);
        //  static ON_NurbsCurve initNurbsCurvePCA(int order, const vector_vec2d &data);

        static std::vector<double>
        getElementVector (const ON_NurbsCurve &nurbs);

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

        static double
        inverseMappingO2 (const ON_NurbsCurve &nurbs, const Eigen::Vector2d &pt, double &error, Eigen::Vector2d &p,
                          Eigen::Vector2d &t);

        static double
        findClosestElementMidPoint (const ON_NurbsCurve &nurbs, const Eigen::Vector2d &pt);
        static double
        findClosestElementMidPoint (const ON_NurbsCurve &nurbs, const Eigen::Vector2d &pt, double hint);

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

        inline void
        setInverseParams (int max_steps = 200, double accuracy = 1e-6)
        {
          in_max_steps = max_steps;
          in_accuracy = accuracy;
        }

      protected:
        virtual void
        addPointConstraint (const double &param, const Eigen::Vector2d &point, double weight, unsigned &row);

        virtual void
        addCageRegularisation (double weight, unsigned &row, const std::vector<double> &elements, double wConcav = 0.0);

        virtual void
        assembleInterior (double wInt, double sigma2, double rScale, unsigned &row);

        virtual void
        assembleClosestPoints (const std::vector<double> &elements, double weight, double sigma2,
                               unsigned samples_per_element, unsigned &row);

        NurbsSolve m_solver;
        bool m_quiet;
        int in_max_steps;
        double in_accuracy;
    };
  }
}

#endif