Fitting and optimizing multiple B-Spline surfaces to 3D point-clouds using tangent-distance-minimization (TDM) in a single system of equations (global). Based on paper: TODO. More...

#include <global_optimization_tdm.h>

Inheritance diagram for pcl::on_nurbs::GlobalOptimizationTDM:

[legend]

List of all members.

Classes
struct	ParameterTDM
	Parameters for fitting. More...
Public Member Functions
virtual void	assemble (Parameter params)
	Assemble the system of equations for fitting.
void	assemble (ParameterTDM params=ParameterTDM())
	Assemble the system of equations for fitting.
	GlobalOptimizationTDM (const std::vector< NurbsDataSurface * > &data, const std::vector< ON_NurbsSurface * > &nurbs)
	Constructor with a set of data and a set of B-Spline surfaces.
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.
Private Member Functions
virtual void	addCageBoundaryRegularisation (unsigned id, int ncps, double weight, int side, unsigned &row)
	Add minimization constraint: boundary smoothness by control point regularisation.
virtual void	addCageCornerRegularisation (unsigned id, int ncps, double weight, unsigned &row)
	Add minimization constraint: corner smoothness by control point regularisation.
virtual void	addCageInteriorRegularisation (unsigned id, int ncps, double weight, unsigned &row)
	Add minimization constraint: interior smoothness by control point regularisation.
virtual void	addParamConstraint (const Eigen::Vector2i &id, const Eigen::Vector2d &params1, const Eigen::Vector2d &params2, double weight, unsigned &row)
	Add minimization constraint: two points in parametric domain of two surfaces should lie on each other.
virtual void	addParamConstraintTD (const Eigen::Vector2i &id, const Eigen::Vector2d &params1, const Eigen::Vector2d &params2, const Eigen::Vector3d &n, const Eigen::Vector3d &tu, const Eigen::Vector3d &tv, double tangent_weight, double weight, unsigned &row)
	Add minimization constraint: two points in parametric domain of two surfaces should lie on each other and using the tangent-distance (TD).
virtual void	addPointConstraint (unsigned id, int ncps, const Eigen::Vector2d &params, const Eigen::Vector3d &point, double weight, unsigned &row)
	Add minimization constraint: point-to-surface distance (point-distance-minimization).
void	addPointConstraintTD (unsigned id, int ncps, const Eigen::Vector2d &params, const Eigen::Vector3d &p, const Eigen::Vector3d &n, const Eigen::Vector3d &tu, const Eigen::Vector3d &tv, double tangent_weight, double weight, unsigned &row)
	Add minimization constraint: point-to-surface distance (tangent-distance-minimization).
virtual void	assembleBoundaryPoints (unsigned id, int ncps, double weight, unsigned &row)
	Assemble point-to-surface constraints for boundary points.
virtual void	assembleClosingBoundaries (unsigned id, unsigned samples, double sigma, double weight, unsigned &row)
	Assemble closing-constraint of boundaries by sampling from nurbs boundary and find closest point on closest nurbs.
void	assembleClosingBoundariesTD (unsigned id, unsigned samples, double sigma, double wTangent, double weight, unsigned &row)
	Assemble closing-constraint of boundaries by sampling from nurbs boundary and find closest point on closest nurbs using the tangent-distance (TD)
virtual void	assembleCommonBoundaries (unsigned id1, double weight, unsigned &row)
	Assemble closing-constraint of boundaries using data.boundary for getting closest points.
void	assembleCommonBoundariesTD (unsigned id1, double wTangent, double weight, unsigned &row)
	Assemble closing-constraint of boundaries using data.boundary for getting closest points and using the tangent-distance (TD)
virtual void	assembleCommonParams (unsigned id1, double weight, unsigned &row)
virtual void	assembleInteriorPoints (unsigned id, int ncps, double weight, unsigned &row)
	Assemble point-to-surface constraints for interior points.
void	assembleInteriorPointsTD (unsigned id, int ncps, double wTangent, double weight, unsigned &row)
	Assemble point-to-surface constraints for interior points using the tangent-distance (TD).
virtual void	assembleRegularisation (unsigned id, int ncps, double wCageRegInt, double wCageRegBnd, unsigned &row)
	Assemble smoothness constraints.

Detailed Description

Fitting and optimizing multiple B-Spline surfaces to 3D point-clouds using tangent-distance-minimization (TDM) in a single system of equations (global). Based on paper: TODO.

Author:: Thomas Mörwald

Definition at line 53 of file global_optimization_tdm.h.

Constructor & Destructor Documentation

GlobalOptimizationTDM::GlobalOptimizationTDM	(	const std::vector< NurbsDataSurface * > &	data,
		const std::vector< ON_NurbsSurface * > &	nurbs
	)

Constructor with a set of data and a set of B-Spline surfaces.

Parameters:

[in]	data	set of 3D point-cloud data to be fit.
[in]	nurbs	set of B-Spline surface used for fitting.

Definition at line 46 of file global_optimization_tdm.cpp.

Member Function Documentation

void GlobalOptimizationTDM::addCageBoundaryRegularisation	(	unsigned	id,
		int	ncps,
		double	weight,
		int	side,
		unsigned &	row
	)		`[private, virtual]`

Add minimization constraint: boundary smoothness by control point regularisation.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 882 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::addCageCornerRegularisation	(	unsigned	id,
		int	ncps,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Add minimization constraint: corner smoothness by control point regularisation.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 948 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::addCageInteriorRegularisation	(	unsigned	id,
		int	ncps,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Add minimization constraint: interior smoothness by control point regularisation.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 843 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::addParamConstraint	(	const Eigen::Vector2i &	id,
		const Eigen::Vector2d &	params1,
		const Eigen::Vector2d &	params2,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Add minimization constraint: two points in parametric domain of two surfaces should lie on each other.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 630 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::addParamConstraintTD	(	const Eigen::Vector2i &	id,
		const Eigen::Vector2d &	params1,
		const Eigen::Vector2d &	params2,
		const Eigen::Vector3d &	n,
		const Eigen::Vector3d &	tu,
		const Eigen::Vector3d &	tv,
		double	tangent_weight,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Add minimization constraint: two points in parametric domain of two surfaces should lie on each other and using the tangent-distance (TD).

Definition at line 687 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::addPointConstraint	(	unsigned	id,
		int	ncps,
		const Eigen::Vector2d &	params,
		const Eigen::Vector3d &	point,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

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

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 748 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::addPointConstraintTD	(	unsigned	id,
		int	ncps,
		const Eigen::Vector2d &	params,
		const Eigen::Vector3d &	p,
		const Eigen::Vector3d &	n,
		const Eigen::Vector3d &	tu,
		const Eigen::Vector3d &	tv,
		double	tangent_weight,
		double	weight,
		unsigned &	row
	)		`[private]`

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

Definition at line 793 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assemble ( Parameter params ) [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.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 53 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assemble ( ParameterTDM params = ParameterTDM () )

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 123 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assembleBoundaryPoints	(	unsigned	id,
		int	ncps,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Assemble point-to-surface constraints for boundary points.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 555 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assembleClosingBoundaries	(	unsigned	id,
		unsigned	samples,
		double	sigma,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Assemble closing-constraint of boundaries by sampling from nurbs boundary and find closest point on closest nurbs.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 355 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assembleClosingBoundariesTD	(	unsigned	id,
		unsigned	samples,
		double	sigma,
		double	wTangent,
		double	weight,
		unsigned &	row
	)		`[private]`

Assemble closing-constraint of boundaries by sampling from nurbs boundary and find closest point on closest nurbs using the tangent-distance (TD)

Definition at line 398 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assembleCommonBoundaries	(	unsigned	id1,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Assemble closing-constraint of boundaries using data.boundary for getting closest points.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 264 of file global_optimization_tdm.cpp.

void pcl::on_nurbs::GlobalOptimizationTDM::assembleCommonBoundariesTD	(	unsigned	id1,
		double	wTangent,
		double	weight,
		unsigned &	row
	)		`[private]`

Assemble closing-constraint of boundaries using data.boundary for getting closest points and using the tangent-distance (TD)

void GlobalOptimizationTDM::assembleCommonParams	(	unsigned	id1,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 239 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assembleInteriorPoints	(	unsigned	id,
		int	ncps,
		double	weight,
		unsigned &	row
	)		`[private, virtual]`

Assemble point-to-surface constraints for interior points.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 448 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assembleInteriorPointsTD	(	unsigned	id,
		int	ncps,
		double	wTangent,
		double	weight,
		unsigned &	row
	)		`[private]`

Assemble point-to-surface constraints for interior points using the tangent-distance (TD).

Definition at line 501 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::assembleRegularisation	(	unsigned	id,
		int	ncps,
		double	wCageRegInt,
		double	wCageRegBnd,
		unsigned &	row
	)		`[private, virtual]`

Assemble smoothness constraints.

Reimplemented from pcl::on_nurbs::GlobalOptimization.

Definition at line 607 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::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::GlobalOptimization.

Definition at line 200 of file global_optimization_tdm.cpp.

void GlobalOptimizationTDM::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::GlobalOptimization.

Definition at line 207 of file global_optimization_tdm.cpp.

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

Classes

Public Member Functions

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation