Fitting a cylindric (dim 0 clamped, dim 1 periodic) B-Spline surface to 3D point-clouds using point-distance-minimization Based on paper: TODO. More...

#include <fitting_cylinder_pdm.h>

Public Member Functions
void	assemble (double smoothness=0.000001f)
	Assemble the system of equations for fitting.
	FittingCylinder (int order, NurbsDataSurface *data)
	Constructor initializing B-Spline surface using initNurbsPCACylinder(...).
	FittingCylinder (NurbsDataSurface *data, const ON_NurbsSurface &ns)
	Constructor initializing with the B-Spline surface given in argument 2.
void	refine (int dim)
	Refines surface by inserting a knot in the middle of each element.
void	refine (int dim, double param)
	Refines surface by inserting a knot in the middle of the element belonging to param.
void	refine (int dim, unsigned span_index)
	Refines surface by inserting a knot in the middle of the element specified.
void	setInvMapParams (int in_max_steps, double invMapInt_accuracy)
	Set parameters for inverse mapping.
void	setQuiet (bool val)
void	solve (double damp=1.0)
	Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline surface if a solution can be obtained.
void	updateSurf (double damp)
	Update surface according to the current system of equations.
Static Public Member Functions
static Eigen::Vector2d	findClosestElementMidPoint (const ON_NurbsSurface &nurbs, const Eigen::Vector3d &pt)
	Given a point pt, the function finds the closest midpoint of the elements of the surface.
static std::vector< double >	getElementVector (const ON_NurbsSurface &nurbs, int dim)
	Get the elements of a cylindric B-Spline surface.
static ON_NurbsSurface	initNurbsPCACylinder (int order, NurbsDataSurface *data)
	Initializing a cylindric B-Spline surface using principal-component-analysis and eigen values.
static Eigen::Vector2d	inverseMapping (const ON_NurbsSurface &nurbs, const Eigen::Vector3d &pt, const Eigen::Vector2d &hint, double &error, Eigen::Vector3d &p, Eigen::Vector3d &tu, Eigen::Vector3d &tv, int maxSteps=100, double accuracy=1e-6, bool quiet=true)
	Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm).
Public Attributes
NurbsDataSurface *	m_data
ON_NurbsSurface	m_nurbs
ON_TextLog	m_out
Protected Member Functions
void	addCageBoundaryRegularisation (double weight, int side, unsigned &row)
	Add minimization constraint: corner smoothness by control point regularisation.
void	addCageInteriorRegularisation (double weight, unsigned &row)
	Add minimization constraint: interior smoothness by control point regularisation.
void	addPointConstraint (const Eigen::Vector2d &params, const Eigen::Vector3d &point, double weight, unsigned &row)
	Add minimization constraint: point-to-surface distance (point-distance-minimization).
void	assembleInterior (double wInt, unsigned &row)
	Assemble point-to-surface constraints for interior points.
void	init ()
	Initialisation of member variables.
Private Member Functions
int	gl2gc (int A)
int	gl2gr (int A)
int	grc2gl (int I, int J)
int	lrc2gl (int E, int F, int i, int j)
Private Attributes
double	in_accuracy
int	in_max_steps
bool	m_quiet
NurbsSolve	m_solver

Detailed Description

Fitting a cylindric (dim 0 clamped, dim 1 periodic) B-Spline surface to 3D point-clouds using point-distance-minimization Based on paper: TODO.

Author:: Thomas Mörwald

Definition at line 55 of file fitting_cylinder_pdm.h.

Constructor & Destructor Documentation

FittingCylinder::FittingCylinder	(	int	order,
		NurbsDataSurface *	data
	)

Constructor initializing B-Spline surface using initNurbsPCACylinder(...).

Parameters:

[in]	order	the polynomial order of the B-Spline surface.
[in]	data	pointer to the 2D point-cloud data to be fit.
[in]	z	vector defining front face of surface.

Definition at line 45 of file fitting_cylinder_pdm.cpp.

FittingCylinder::FittingCylinder	(	NurbsDataSurface *	data,
		const ON_NurbsSurface &	ns
	)

Constructor initializing with the B-Spline surface given in argument 2.

Parameters:

[in]	data	pointer to the 3D point-cloud data to be fit.
[in]	ns	B-Spline surface used for fitting.

Definition at line 58 of file fitting_cylinder_pdm.cpp.

Member Function Documentation

void FittingCylinder::addCageBoundaryRegularisation	(	double	weight,
		int	side,
		unsigned &	row
	)		`[protected]`

Add minimization constraint: corner smoothness by control point regularisation.

Definition at line 440 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::addCageInteriorRegularisation	(	double	weight,
		unsigned &	row
	)		`[protected]`

Add minimization constraint: interior smoothness by control point regularisation.

Definition at line 415 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::addPointConstraint	(	const Eigen::Vector2d &	params,
		const Eigen::Vector3d &	point,
		double	weight,
		unsigned &	row
	)		`[protected]`

Add minimization constraint: point-to-surface distance (point-distance-minimization).

Definition at line 380 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::assemble ( double smoothness = 0.000001f )

Assemble the system of equations for fitting.

for large point-clouds this is time consuming.
should be done once before refinement to initialize the starting points for point inversion.

Definition at line 130 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::assembleInterior	(	double	wInt,
		unsigned &	row
	)		`[protected]`

Assemble point-to-surface constraints for interior points.

Definition at line 339 of file fitting_cylinder_pdm.cpp.

Vector2d FittingCylinder::findClosestElementMidPoint	(	const ON_NurbsSurface &	nurbs,
		const Eigen::Vector3d &	pt
	)		`[static]`

Given a point pt, the function finds the closest midpoint of the elements of the surface.

Parameters:

[in]	nurbs	the B-Spline surface.
[in]	pt	the point to which the closest midpoint of the elements will be computed. return closest midpoint in parametric domain.

Definition at line 549 of file fitting_cylinder_pdm.cpp.

std::vector< double > FittingCylinder::getElementVector	(	const ON_NurbsSurface &	nurbs,
		int	dim
	)		`[static]`

Get the elements of a cylindric B-Spline surface.

Definition at line 281 of file fitting_cylinder_pdm.cpp.

int pcl::on_nurbs::FittingCylinder::gl2gc ( int A ) [inline, private]

Definition at line 201 of file fitting_cylinder_pdm.h.

int pcl::on_nurbs::FittingCylinder::gl2gr ( int A ) [inline, private]

Definition at line 196 of file fitting_cylinder_pdm.h.

int pcl::on_nurbs::FittingCylinder::grc2gl	(	int	I,
		int	J
	)		`[inline, private]`

Definition at line 184 of file fitting_cylinder_pdm.h.

void FittingCylinder::init ( ) [protected]

Initialisation of member variables.

Definition at line 69 of file fitting_cylinder_pdm.cpp.

ON_NurbsSurface FittingCylinder::initNurbsPCACylinder	(	int	order,
		NurbsDataSurface *	data
	)		`[static]`

Initializing a cylindric B-Spline surface using principal-component-analysis and eigen values.

Definition at line 216 of file fitting_cylinder_pdm.cpp.

Vector2d FittingCylinder::inverseMapping	(	const ON_NurbsSurface &	nurbs,
		const Eigen::Vector3d &	pt,
		const Eigen::Vector2d &	hint,
		double &	error,
		Eigen::Vector3d &	p,
		Eigen::Vector3d &	tu,
		Eigen::Vector3d &	tv,
		int	maxSteps = `100`,
		double	accuracy = `1e-6`,
		bool	quiet = `true`
	)		`[static]`

Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm).

Parameters:

[in]	nurbs	the B-Spline surface.
[in]	pt	the point to which the closest point on the surface will be computed.
[in]	hint	the starting point in parametric domain (warning: may lead to convergence at local minima).
[in]	error	the distance between the point pt and p after convergence.
[in]	p	closest boundary point on surface.
[in]	tu	the tangent vector at point p in u-direction.
[in]	tv	the tangent vector at point p in v-direction.
[in]	maxSteps	maximum number of iterations.
[in]	accuracy	convergence criteria: if error is lower than accuracy the function returns

Returns:: closest point on surface in parametric domain.

Definition at line 469 of file fitting_cylinder_pdm.cpp.

int pcl::on_nurbs::FittingCylinder::lrc2gl	(	int	E,
		int	F,
		int	i,
		int	j
	)		`[inline, private]`

Definition at line 191 of file fitting_cylinder_pdm.h.

void FittingCylinder::refine ( int dim )

Refines surface by inserting a knot in the middle of each element.

Parameters:

[in] dim dimension of refinement (0,1)

Definition at line 78 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::refine	(	int	dim,
		double	param
	)

Refines surface by inserting a knot in the middle of the element belonging to param.

Parameters:

[in]	dim	dimension of refinement (0,1)
[in]	param	parameter defining the element to be refined.

Definition at line 91 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::refine	(	int	dim,
		unsigned	span_index
	)

Refines surface by inserting a knot in the middle of the element specified.

Parameters:

[in]	dim	dimension of refinement (0,1)
[in]	span_index	the index of the element of refinement.

Definition at line 114 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::setInvMapParams	(	int	in_max_steps,
		double	invMapInt_accuracy
	)

Set parameters for inverse mapping.

Parameters:

[in]	in_max_steps	maximum number of iterations.
[in]	in_accuracy	stops iteration if specified accuracy is reached.

Definition at line 209 of file fitting_cylinder_pdm.cpp.

void pcl::on_nurbs::FittingCylinder::setQuiet ( bool val ) [inline]

Definition at line 114 of file fitting_cylinder_pdm.h.

void FittingCylinder::solve ( double damp = 1.0 )

Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline surface if a solution can be obtained.

Definition at line 166 of file fitting_cylinder_pdm.cpp.

void FittingCylinder::updateSurf ( double damp )

Update surface according to the current system of equations.

Parameters:

[in] damp damping factor from one iteration to the other.

Definition at line 173 of file fitting_cylinder_pdm.cpp.

Member Data Documentation

double pcl::on_nurbs::FittingCylinder::in_accuracy [private]

Definition at line 180 of file fitting_cylinder_pdm.h.

int pcl::on_nurbs::FittingCylinder::in_max_steps [private]

Definition at line 179 of file fitting_cylinder_pdm.h.

NurbsDataSurface* pcl::on_nurbs::FittingCylinder::m_data

Definition at line 61 of file fitting_cylinder_pdm.h.

ON_NurbsSurface pcl::on_nurbs::FittingCylinder::m_nurbs

Definition at line 60 of file fitting_cylinder_pdm.h.

ON_TextLog pcl::on_nurbs::FittingCylinder::m_out

Definition at line 59 of file fitting_cylinder_pdm.h.

bool pcl::on_nurbs::FittingCylinder::m_quiet [private]

Definition at line 177 of file fitting_cylinder_pdm.h.

NurbsSolve pcl::on_nurbs::FittingCylinder::m_solver [private]

Definition at line 176 of file fitting_cylinder_pdm.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation