Fitting a B-Spline surface to 3D point-clouds using tangent-distance-minimization Based on paper: TODO. More...

#include <fitting_surface_tdm.h>

Inheritance diagram for pcl::on_nurbs::FittingSurfaceTDM:

Classes
struct	ParameterTDM
	Parameters with TDM extensions for fitting. More...
Public Member Functions
virtual void	assemble (ParameterTDM param=ParameterTDM())
	Assemble the system of equations for fitting.
	FittingSurfaceTDM (NurbsDataSurface *data, const ON_NurbsSurface &ns)
	Constructor initializing with the B-Spline surface given in argument 2.
	FittingSurfaceTDM (int order, NurbsDataSurface *data, Eigen::Vector3d z=Eigen::Vector3d(0.0, 0.0, 1.0))
	Constructor initializing B-Spline surface using initNurbsPCA(...).
virtual 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.
virtual void	updateSurf (double damp)
	Update surface according to the current system of equations.
Protected Member Functions
virtual void	addBoundaryRegularisation (int, int, int, double, unsigned &)
	Add minimization constraint: boundary smoothness by derivatives regularisation.
virtual void	addCageBoundaryRegularisation (double weight, int side, unsigned &row)
	Add minimization constraint: boundary smoothness by control point regularisation.
virtual void	addCageCornerRegularisation (double weight, unsigned &row)
	Add minimization constraint: corner smoothness by control point regularisation.
virtual void	addCageInteriorRegularisation (double weight, unsigned &row)
	Add minimization constraint: interior smoothness by control point regularisation.
virtual void	addInteriorRegularisation (int, int, int, double, unsigned &)
	Add minimization constraint: interior smoothness by derivatives regularisation.
virtual void	addPointConstraint (const Eigen::Vector2d &params, const Eigen::Vector3d &point, const Eigen::Vector3d &normal, const Eigen::Vector3d &tu, const Eigen::Vector3d &tv, double tangent_weight, double weight, unsigned &row)
	Add minimization constraint: point-to-surface distance (point-distance-minimization).
virtual void	assembleBoundary (double wBnd, double wTangent, unsigned &row)
	Assemble point-to-surface constraints for boundary points.
virtual void	assembleInterior (double wInt, double wTangent, unsigned &row)
	Assemble point-to-surface constraints for interior points.

Detailed Description

Fitting a B-Spline surface to 3D point-clouds using tangent-distance-minimization Based on paper: TODO.

Author:: Thomas Mörwald

Definition at line 51 of file fitting_surface_tdm.h.

Constructor & Destructor Documentation

FittingSurfaceTDM::FittingSurfaceTDM	(	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 45 of file fitting_surface_tdm.cpp.

FittingSurfaceTDM::FittingSurfaceTDM	(	int	order,
		NurbsDataSurface *	data,
		Eigen::Vector3d	z = `Eigen::Vector3d (0.0, 0.0, 1.0)`
	)

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

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 49 of file fitting_surface_tdm.cpp.

Member Function Documentation

virtual void pcl::on_nurbs::FittingSurfaceTDM::addBoundaryRegularisation	(	int	order,
		int	resU,
		int	resV,
		double	weight,
		unsigned &	row
	)		`[inline, protected, virtual]`

Add minimization constraint: boundary smoothness by derivatives regularisation.

Reimplemented from pcl::on_nurbs::FittingSurface.

Definition at line 130 of file fitting_surface_tdm.h.

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

Add minimization constraint: boundary smoothness by control point regularisation.

Reimplemented from pcl::on_nurbs::FittingSurface.

Definition at line 302 of file fitting_surface_tdm.cpp.

void FittingSurfaceTDM::addCageCornerRegularisation	(	double	weight,
		unsigned &	row
	)		`[protected, virtual]`

Add minimization constraint: corner smoothness by control point regularisation.

Reimplemented from pcl::on_nurbs::FittingSurface.

Definition at line 364 of file fitting_surface_tdm.cpp.

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

Add minimization constraint: interior smoothness by control point regularisation.

Reimplemented from pcl::on_nurbs::FittingSurface.

Definition at line 267 of file fitting_surface_tdm.cpp.

virtual void pcl::on_nurbs::FittingSurfaceTDM::addInteriorRegularisation	(	int	order,
		int	resU,
		int	resV,
		double	weight,
		unsigned &	row
	)		`[inline, protected, virtual]`

Add minimization constraint: interior smoothness by derivatives regularisation.

Reimplemented from pcl::on_nurbs::FittingSurface.

Definition at line 126 of file fitting_surface_tdm.h.

void FittingSurfaceTDM::addPointConstraint	(	const Eigen::Vector2d &	params,
		const Eigen::Vector3d &	point,
		const Eigen::Vector3d &	normal,
		const Eigen::Vector3d &	tu,
		const Eigen::Vector3d &	tv,
		double	tangent_weight,
		double	weight,
		unsigned &	row
	)		`[protected, virtual]`

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

Definition at line 226 of file fitting_surface_tdm.cpp.

void FittingSurfaceTDM::assemble ( ParameterTDM param = ParameterTDM () ) [virtual]

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 55 of file fitting_surface_tdm.cpp.

void FittingSurfaceTDM::assembleBoundary	(	double	wBnd,
		double	wTangent,
		unsigned &	row
	)		`[protected, virtual]`

Assemble point-to-surface constraints for boundary points.

Definition at line 184 of file fitting_surface_tdm.cpp.

void FittingSurfaceTDM::assembleInterior	(	double	wInt,
		double	wTangent,
		unsigned &	row
	)		`[protected, virtual]`

Assemble point-to-surface constraints for interior points.

Definition at line 139 of file fitting_surface_tdm.cpp.

void FittingSurfaceTDM::solve ( double damp = 1.0 ) [virtual]

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.

Reimplemented from pcl::on_nurbs::FittingSurface.

Definition at line 107 of file fitting_surface_tdm.cpp.

void FittingSurfaceTDM::updateSurf ( double damp ) [virtual]

Update surface according to the current system of equations.

Parameters:

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

Reimplemented from pcl::on_nurbs::FittingSurface.

Definition at line 114 of file fitting_surface_tdm.cpp.

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

Classes

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation