MRCylinderApproximator.h

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#pragma once
 
#include "MRMeshFwd.h"
#include <MRPch/MREigenCore.h>
 
 
namespace MR
{
 
 
template <typename T>
class Cylinder3Approximation
{
private:
    enum class CylinderFitterType
    {
        HemisphereSearchFit,
 
        SpecificAxisFit
 
    };
 
    CylinderFitterType fitter_ = CylinderFitterType::HemisphereSearchFit;
 
    Eigen::Vector<T, 3> baseCylinderAxis_;
 
    size_t thetaResolution_ = 0;
    size_t phiResolution_ = 0;
    bool isMultithread_ = true;
 
    std::vector<Eigen::Vector<T, 3>> normalizedPoints_ = {};
 
 
    Eigen::Vector <T, 6>  precomputedMu_ = {};
    Eigen::Matrix <T, 3, 3>  precomputedF0_ = {};
    Eigen::Matrix <T, 3, 6>  precomputedF1_ = {};
    Eigen::Matrix <T, 6, 6>  precomputedF2_ = {};
 
public:
    MRMESH_API Cylinder3Approximation();
 
    MRMESH_API void reset();
 
    MRMESH_API T solveGeneral( const std::vector<MR::Vector3<T>>& points, Cylinder3<T>& cylinder, size_t theta = 180, size_t phi = 90, bool isMultithread = true );
 
    MRMESH_API T solveSpecificAxis( const std::vector<MR::Vector3<T>>& points, Cylinder3<T>& cylinder, MR::Vector3<T> const& cylinderAxis );
 
private:
    T solve( const std::vector<MR::Vector3<T>>& points, Cylinder3<T>& cylinder );
 
    void updatePrecomputeParams( const std::vector <MR::Vector3<T>>& points, Vector3<T>& average );
 
    T G( const Eigen::Vector<T, 3>& W, Eigen::Vector<T, 3>& PC, T& rsqr ) const;
 
    T fitCylindeHemisphereSingleThreaded( Eigen::Vector<T, 3>& PC, Eigen::Vector<T, 3>& W, T& resultedRootSquare ) const;
 
    class BestHemisphereStoredData
    {
    public:
        T error = std::numeric_limits<T>::max();
        T rootSquare = std::numeric_limits<T>::max();
        Eigen::Vector<T, 3> W;
        Eigen::Vector<T, 3> PC;
    };
 
    T fitCylindeHemisphereMultiThreaded( Eigen::Vector<T, 3>& PC, Eigen::Vector<T, 3>& W, T& resultedRootSquare ) const;
 
    T SpecificAxisFit( Eigen::Vector<T, 3>& PC, Eigen::Vector<T, 3>& W, T& resultedRootSquare );
};
 
}