int
main (int argc, char *argv[])
{
std::string pcd_file, file_3dm;
if (argc < 3)
{
printf ("\nUsage: pcl_example_nurbs_fitting_surface pcd<PointXYZ>-in-file 3dm-out-file\n\n");
exit (0);
}
pcd_file = argv[1];
file_3dm = argv[2];
pcl::visualization::PCLVisualizer viewer ("B-spline surface fitting");
viewer.setSize (800, 600);
// ############################################################################
// load point cloud
printf (" loading %s\n", pcd_file.c_str ());
pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);
pcl::PCLPointCloud2 cloud2;
pcl::on_nurbs::NurbsDataSurface data;
if (pcl::io::loadPCDFile (pcd_file, cloud2) == -1)
throw std::runtime_error (" PCD file not found.");
fromPCLPointCloud2 (cloud2, *cloud);
PointCloud2Vector3d (cloud, data.interior);
pcl::visualization::PointCloudColorHandlerCustom<Point> handler (cloud, 0, 255, 0);
viewer.addPointCloud<Point> (cloud, handler, "cloud_cylinder");
printf (" %lu points in data set\n", cloud->size ());
// ############################################################################
// fit B-spline surface
// parameters
unsigned order (3);
unsigned refinement (5);
unsigned iterations (10);
unsigned mesh_resolution (256);
pcl::on_nurbs::FittingSurface::Parameter params;
params.interior_smoothness = 0.2;
params.interior_weight = 1.0;
params.boundary_smoothness = 0.2;
params.boundary_weight = 0.0;
// initialize
printf (" surface fitting ...\n");
ON_NurbsSurface nurbs = pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox (order, &data);
pcl::on_nurbs::FittingSurface fit (&data, nurbs);
// fit.setQuiet (false); // enable/disable debug output
// mesh for visualization
pcl::PolygonMesh mesh;
pcl::PointCloud<pcl::PointXYZ>::Ptr mesh_cloud (new pcl::PointCloud<pcl::PointXYZ>);
std::vector<pcl::Vertices> mesh_vertices;
std::string mesh_id = "mesh_nurbs";
pcl::on_nurbs::Triangulation::convertSurface2PolygonMesh (fit.m_nurbs, mesh, mesh_resolution);
viewer.addPolygonMesh (mesh, mesh_id);
// surface refinement
for (unsigned i = 0; i < refinement; i++)
{
fit.refine (0);
fit.refine (1);
fit.assemble (params);
fit.solve ();
pcl::on_nurbs::Triangulation::convertSurface2Vertices (fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
viewer.updatePolygonMesh<pcl::PointXYZ> (mesh_cloud, mesh_vertices, mesh_id);
viewer.spinOnce ();
}
// surface fitting with final refinement level
for (unsigned i = 0; i < iterations; i++)
{
fit.assemble (params);
fit.solve ();
pcl::on_nurbs::Triangulation::convertSurface2Vertices (fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
viewer.updatePolygonMesh<pcl::PointXYZ> (mesh_cloud, mesh_vertices, mesh_id);
viewer.spinOnce ();
}
// ############################################################################
// fit B-spline curve
// parameters
pcl::on_nurbs::FittingCurve2dAPDM::FitParameter curve_params;
curve_params.addCPsAccuracy = 5e-2;
curve_params.addCPsIteration = 3;
curve_params.maxCPs = 200;
curve_params.accuracy = 1e-3;
curve_params.iterations = 100;
curve_params.param.closest_point_resolution = 0;
curve_params.param.closest_point_weight = 1.0;
curve_params.param.closest_point_sigma2 = 0.1;
curve_params.param.interior_sigma2 = 0.00001;
curve_params.param.smooth_concavity = 1.0;
curve_params.param.smoothness = 1.0;
// initialisation (circular)
printf (" curve fitting ...\n");
pcl::on_nurbs::NurbsDataCurve2d curve_data;
curve_data.interior = data.interior_param;
curve_data.interior_weight_function.push_back (true);
ON_NurbsCurve curve_nurbs = pcl::on_nurbs::FittingCurve2dAPDM::initNurbsCurve2D (order, curve_data.interior);
// curve fitting
pcl::on_nurbs::FittingCurve2dASDM curve_fit (&curve_data, curve_nurbs);
// curve_fit.setQuiet (false); // enable/disable debug output
curve_fit.fitting (curve_params);
visualizeCurve (curve_fit.m_nurbs, fit.m_nurbs, viewer);
// ############################################################################
// triangulation of trimmed surface
printf (" triangulate trimmed surface ...\n");
viewer.removePolygonMesh (mesh_id);
pcl::on_nurbs::Triangulation::convertTrimmedSurface2PolygonMesh (fit.m_nurbs, curve_fit.m_nurbs, mesh,
mesh_resolution);
viewer.addPolygonMesh (mesh, mesh_id);
// save trimmed B-spline surface
if ( fit.m_nurbs.IsValid() )
{
ONX_Model model;
ONX_Model_Object& surf = model.m_object_table.AppendNew();
surf.m_object = new ON_NurbsSurface(fit.m_nurbs);
surf.m_bDeleteObject = true;
surf.m_attributes.m_layer_index = 1;
surf.m_attributes.m_name = "surface";
ONX_Model_Object& curv = model.m_object_table.AppendNew();
curv.m_object = new ON_NurbsCurve(curve_fit.m_nurbs);
curv.m_bDeleteObject = true;
curv.m_attributes.m_layer_index = 2;
curv.m_attributes.m_name = "trimming curve";
model.Write(file_3dm.c_str());
printf(" model saved: %s\n", file_3dm.c_str());
}
printf (" ... done.\n");
viewer.spin ();
return 0;
}
int
main (int argc, char *argv[])
{
std::string pcd_file;
if (argc > 1)
{
pcd_file = argv[1];
}
else
{
printf ("\nUsage: boundaryFittingPDM pcd-file \n\n");
printf (" pcd-file point-cloud file containing the boundary points (xy)\n");
exit (0);
}
// #################### LOAD FILE #########################
printf (" loading %s\n", pcd_file.c_str ());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
sensor_msgs::PointCloud2 cloud2;
if (pcl::io::loadPCDFile (pcd_file, cloud2) == -1)
throw std::runtime_error (" PCD file not found.");
fromROSMsg (cloud2, *cloud);
viewer.setSize (800, 600);
viewer.addPointCloud<pcl::PointXYZ> (cloud, "cloud");
pcl::on_nurbs::NurbsDataCurve2d data;
PointCloud2Vector2d (cloud, data.interior);
// #################### CURVE PARAMETERS #########################
unsigned order (3);
unsigned n_control_points (20);
pcl::on_nurbs::FittingCurve2d::FitParameter curve_params;
curve_params.addCPsAccuracy = 1000; // no control points added
curve_params.addCPsIteration = 1000; // no control points added
curve_params.maxCPs = 1000;
curve_params.fitMaxError = 1e-6;
curve_params.fitAvgError = 1e-8;
curve_params.fitMaxSteps = 50;
curve_params.refinement = 0;
curve_params.param.closest_point_resolution = 0;
curve_params.param.closest_point_weight = 0.0;
curve_params.param.closest_point_sigma2 = 0.0;
curve_params.param.interior_sigma2 = 0.0;
curve_params.param.smooth_concavity = 0.0;
curve_params.param.smoothness = 0.000001;
data.interior_weight_function.push_back (false);
// #################### CURVE FITTING #########################
ON_NurbsCurve curve = pcl::on_nurbs::FittingCurve2d::initNurbsCurve2D (order, data.interior, n_control_points);
pcl::on_nurbs::FittingCurve2d curve_fit (&data, curve);
curve_fit.fitting (curve_params);
VisualizeCurve (curve_fit.m_nurbs);
viewer.spin ();
return 0;
}