C++ (Cpp) ON_NurbsSurface::normalize示例

Eigen::Vector3d
ClosingBoundary::commonBoundaryPoint2 (ON_NurbsSurface &n1, ON_NurbsSurface &n2, Eigen::Vector2d &params1,
                                       Eigen::Vector2d &params2, Eigen::Vector3d start, unsigned nsteps, double &error,
                                       double accuracy)
{
  Eigen::Vector3d current = start;

  double error1 (DBL_MAX);
  double error2 (DBL_MAX);

  Eigen::Vector3d p1, p2, tu1, tu2, tv1, tv2;

  params1 = FittingSurface::findClosestElementMidPoint (n1, current);
  params2 = FittingSurface::findClosestElementMidPoint (n2, current);
  params1 = FittingSurface::inverseMapping (n1, current, params1, error1, p1, tu1, tv1, nsteps, accuracy, true);
  params2 = FittingSurface::inverseMapping (n2, current, params2, error2, p2, tu2, tv2, nsteps, accuracy, true);

  for (unsigned i = 0; i < nsteps; i++)
  {
    params1 = FittingSurface::inverseMapping (n1, current, params1, error1, p1, tu1, tv1, nsteps, accuracy, true);
    params2 = FittingSurface::inverseMapping (n2, current, params2, error2, p2, tu2, tv2, nsteps, accuracy, true);

    //    params1 = ntools1.inverseMappingBoundary(current, error1, p1, tu1, tv1, 10, 1e-2, true);
    //    params2 = ntools2.inverseMappingBoundary(current, error2, p2, tu2, tv2, 10, 1e-2, true);

    //    dbgWin.AddLine3D(current(0), current(1), current(2), p1(0), p1(1), p1(2), 0, 0, 255);
    //    dbgWin.AddLine3D(current(0), current(1), current(2), p2(0), p2(1), p2(2), 0, 0, 255);
    //    dbgWin.AddPoint3D(current(0), current(1), current(2), 0, 0, 255, 3);

    //    current = (p1 + p2) * 0.5;
    Eigen::Vector3d n1 = tu1.cross (tv1);
    n1.normalize ();

    Eigen::Vector3d n2 = tu2.cross (tv2);
    n2.normalize ();

    Eigen::Vector3d l1 = (p2 - n1 * n1.dot (p2 - p1)) - p1;
    l1.normalize ();

    Eigen::Vector3d l2 = (p1 - n2 * n2.dot (p1 - p2)) - p2;
    l2.normalize ();

    //        dbgWin.AddLine3D(p1(0), p1(1), p1(2), p1(0) + l1(0), p1(1) + l1(1), p1(2) + l1(2), 255, 0, 0);
    //        dbgWin.AddLine3D(p2(0), p2(1), p2(2), p2(0) + l2(0), p2(1) + l2(1), p2(2) + l2(2), 255, 0, 0);

    Eigen::Vector3d P, Q;
    getLineDistance (p1, l1, p2, l2, P, Q);

    current = (P + Q) * 0.5;
  }

  error = 0.5 * (error1 + error2);

  //  dbgWin.AddPoint3D(current(0), current(1), current(2), 255, 0, 255, 5);
  //  dbgWin.Update();

  return current;
}

示例#2

显示文件

文件： closing_boundary.cpp 项目： kalectro/pcl_groovy

Eigen::Vector3d
ClosingBoundary::commonBoundaryPoint3 (ON_NurbsSurface &n1, ON_NurbsSurface &n2, Eigen::Vector2d &params1,
                                       Eigen::Vector2d &params2, Eigen::Vector3d start, unsigned nsteps, double &error,
                                       double accuracy)
{
  Eigen::Vector3d current = start;

  double error1 (DBL_MAX);
  double error2 (DBL_MAX);

  Eigen::Vector3d p1, p2, tu1, tu2, tv1, tv2;

  params1 = FittingSurface::findClosestElementMidPoint (n1, current);
  params2 = FittingSurface::findClosestElementMidPoint (n2, current);
  params1 = FittingSurface::inverseMapping (n1, current, params1, error1, p1, tu1, tv1, nsteps, accuracy, true);
  params2 = FittingSurface::inverseMapping (n2, current, params2, error2, p2, tu2, tv2, nsteps, accuracy, true);

  for (unsigned i = 0; i < nsteps; i++)
  {
    params1 = FittingSurface::inverseMapping (n1, current, params1, error1, p1, tu1, tv1, nsteps, accuracy, true);
    params2 = FittingSurface::inverseMapping (n2, current, params2, error2, p2, tu2, tv2, nsteps, accuracy, true);

    //    dbgWin.AddLine3D(current(0), current(1), current(2), p1(0), p1(1), p1(2), 0, 0, 255);
    //    dbgWin.AddLine3D(current(0), current(1), current(2), p2(0), p2(1), p2(2), 0, 0, 255);
    //    dbgWin.AddPoint3D(current(0), current(1), current(2), 0, 0, 255, 3);

    Eigen::Vector3d n1 = tu1.cross (tv1);
    n1.normalize ();
    double d1 = n1.dot (p1);

    Eigen::Vector3d n2 = tu2.cross (tv2);
    n2.normalize ();
    double d2 = n2.dot (p2);

    Eigen::Vector3d n3 = (p1 - current).cross (p2 - current);
    n3.normalize ();
    double d3 = n3.dot (current);

    current = intersectPlanes (n1, d1, n2, d2, n3, d3);
  }

  //  dbgWin.AddPoint3D(current(0), current(1), current(2), 255, 0, 255, 5);
  //  dbgWin.Update();

  error = 0.5 * (error1 + error2);

  return current;
}