Creating obstacles and highlighting them when the curve passes through them.
Trying to just run ceres to make the curved line straight by minimizing the square of the distance of the line, but it isn't working yet:

I0908 07:52:04.484782  3964 bezier_solve.cpp:370] Ceres Solver Report: Iterations: 0, Initial cost: 8.879364e+08, Final cost: 8.879364e+08, Termination: GRADIENT_TOLERANCE.