fitting_curve_pdm.h

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#ifndef NURBS_FITTING_CURVE_PDM_H
#define NURBS_FITTING_CURVE_PDM_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 FittingCurve
    {
      public:
        struct Parameter
        {
          double smoothness;
          Parameter (double smoothness = 0.000001) :
            smoothness (smoothness)
          {
          }
        };

        ON_TextLog m_out;
        ON_NurbsCurve m_nurbs;
        NurbsDataCurve *m_data;

        FittingCurve (int order, NurbsDataCurve *data);

        FittingCurve (NurbsDataCurve *data, const ON_NurbsCurve &ns);

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

        void
        refine ();

        void
        assemble (const Parameter &parameter);

        void
        solve (double damp = 1.0);

        void
        updateCurve (double damp);

        static ON_NurbsCurve
        initNurbsCurve2D (int order, const vector_vec2d &data);

        static ON_NurbsCurve
        initNurbsCurvePCA (int order, const vector_vec3d &data, int ncps = 0, double rf = 1.0);

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

        static double
        findClosestElementMidPoint (const ON_NurbsCurve &nurbs, const Eigen::Vector3d &pt);

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

      private:

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

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

        void
        addCageRegularisation (double weight, unsigned &row);

        void
        assembleInterior (double wInt, unsigned &row);

        NurbsSolve m_solver;
        bool m_quiet;

        int in_max_steps;
        double in_accuracy;

    };
  }
}

#endif