nurbs_tools.h

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#ifndef NURBS_TOOLS_H
#define NURBS_TOOLS_H

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

#include <pcl/surface/3rdparty/opennurbs/opennurbs.h>

#undef Success
#include <Eigen/Dense>

namespace pcl
{
  namespace on_nurbs
  {

    enum
    {
      NORTH = 1, NORTHEAST = 2, EAST = 3, SOUTHEAST = 4, SOUTH = 5, SOUTHWEST = 6, WEST = 7, NORTHWEST = 8
    };

    class NurbsTools
    {
    public:

      //      static std::list<unsigned>
      //      getClosestPoints (const Eigen::Vector2d &p, const vector_vec2d &data, unsigned s);

      static unsigned
      getClosestPoint (const Eigen::Vector2d &point, const vector_vec2d &data);

      static unsigned
      getClosestPoint (const Eigen::Vector3d &point, const vector_vec3d &data);

      static unsigned
      getClosestPoint (const Eigen::Vector2d &point, const Eigen::Vector2d &dir, const vector_vec2d &data,
                       unsigned &idxcp);

      static Eigen::Vector3d
      computeMean (const vector_vec3d &data);
      static Eigen::Vector2d
      computeMean (const vector_vec2d &data);

      static Eigen::Vector3d
      computeVariance (const Eigen::Vector3d &mean, const vector_vec3d &data);
      static Eigen::Vector2d
      computeVariance (const Eigen::Vector2d &mean, const vector_vec2d &data);

      static void
      computeBoundingBox (const ON_NurbsCurve &nurbs, Eigen::Vector3d &_min, Eigen::Vector3d &_max);
      static void
      computeBoundingBox (const ON_NurbsSurface &nurbs, Eigen::Vector3d &_min, Eigen::Vector3d &_max);

      static double
      computeRScale (const Eigen::Vector3d &_min, const Eigen::Vector3d &_max);

      static void
      pca (const vector_vec3d &data, Eigen::Vector3d &mean, Eigen::Matrix3d &eigenvectors,
           Eigen::Vector3d &eigenvalues);

      static void
      pca (const vector_vec2d &data, Eigen::Vector2d &mean, Eigen::Matrix2d &eigenvectors,
           Eigen::Vector2d &eigenvalues);

      static void
      downsample_random (const vector_vec3d &data1, vector_vec3d &data2, unsigned size);
      static void
      downsample_random (vector_vec3d &data1, unsigned size);

    };

  }
}

#endif /* NTOOLS_H_ */