Fitting a 2D B-Spline curve to 2D point-clouds using asymmetric squared-distance-minimization Based on paper: TODO. More...

#include <fitting_curve_2d_asdm.h>

Inheritance diagram for pcl::on_nurbs::FittingCurve2dASDM:

[legend]

List of all members.

Public Member Functions
virtual void	assemble (const Parameter &parameter)
	Assemble the system of equations for fitting.
	FittingCurve2dASDM (int order, NurbsDataCurve2d *data)
	Constructor initializing B-Spline curve using initNurbsCurve2D(...).
	FittingCurve2dASDM (NurbsDataCurve2d *data, const ON_NurbsCurve &nc)
	Constructor initializing with the B-Spline curve given in argument 2.
virtual double	solve (double damp=1.0)
	Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline curve if a solution can be obtained.
virtual double	updateCurve (double damp)
	Update curve according to the current system of equations.
Protected Member Functions
virtual void	addCageRegularisation (double weight, unsigned &row, const std::vector< double > &elements, double wConcav=0.0)
	Add minimization constraint: smoothness by control point regularisation.
virtual void	addPointConstraint (const double &param, const Eigen::Vector2d &point, const Eigen::Vector2d &normal, const Eigen::Vector2d &tangent, double rho, double d, double weight, unsigned &row)
	Add minimization constraint: point-to-surface distance (squared-distance-minimization).
virtual void	assembleClosestPoints (const std::vector< double > &elements, double weight, double sigma2, unsigned &row)
	Assemble closest points constraints. At each midpoint of the curve elements the closest data points are computed and point-to-surface constraints are added.
virtual void	assembleInterior (double wInt, double sigma2, double rScale, unsigned &row)
	Assemble point-to-surface constraints.

Detailed Description

Fitting a 2D B-Spline curve to 2D point-clouds using asymmetric squared-distance-minimization Based on paper: TODO.

Author:: Thomas Mörwald

Definition at line 57 of file fitting_curve_2d_asdm.h.

Constructor & Destructor Documentation

FittingCurve2dASDM::FittingCurve2dASDM	(	int	order,
		NurbsDataCurve2d *	data
	)

Constructor initializing B-Spline curve using initNurbsCurve2D(...).

Parameters:

[in]	order	the polynomial order of the B-Spline curve.
[in]	data	pointer to the 2D point-cloud data to be fit.

Definition at line 44 of file fitting_curve_2d_asdm.cpp.

FittingCurve2dASDM::FittingCurve2dASDM	(	NurbsDataCurve2d *	data,
		const ON_NurbsCurve &	nc
	)

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

Parameters:

[in]	data	pointer to the 2D point-cloud data to be fit.
[in]	nc	B-Spline curve used for fitting.

Definition at line 49 of file fitting_curve_2d_asdm.cpp.

Member Function Documentation

void FittingCurve2dASDM::addCageRegularisation	(	double	weight,
		unsigned &	row,
		const std::vector< double > &	elements,
		double	wConcav = `0.0`
	)		`[protected, virtual]`

Add minimization constraint: smoothness by control point regularisation.

Reimplemented from pcl::on_nurbs::FittingCurve2dAPDM.

Definition at line 197 of file fitting_curve_2d_asdm.cpp.

void FittingCurve2dASDM::addPointConstraint	(	const double &	param,
		const Eigen::Vector2d &	point,
		const Eigen::Vector2d &	normal,
		const Eigen::Vector2d &	tangent,
		double	rho,
		double	d,
		double	weight,
		unsigned &	row
	)		`[protected, virtual]`

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

Definition at line 147 of file fitting_curve_2d_asdm.cpp.

void FittingCurve2dASDM::assemble ( const Parameter & parameter ) [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::FittingCurve2dAPDM.

Definition at line 56 of file fitting_curve_2d_asdm.cpp.

void FittingCurve2dASDM::assembleClosestPoints	(	const std::vector< double > &	elements,
		double	weight,
		double	sigma2,
		unsigned &	row
	)		`[protected, virtual]`

Assemble closest points constraints. At each midpoint of the curve elements the closest data points are computed and point-to-surface constraints are added.

Definition at line 386 of file fitting_curve_2d_asdm.cpp.

void FittingCurve2dASDM::assembleInterior	(	double	wInt,
		double	sigma2,
		double	rScale,
		unsigned &	row
	)		`[protected, virtual]`

Assemble point-to-surface constraints.

Reimplemented from pcl::on_nurbs::FittingCurve2dAPDM.

Definition at line 259 of file fitting_curve_2d_asdm.cpp.

double FittingCurve2dASDM::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 curve if a solution can be obtained.

Reimplemented from pcl::on_nurbs::FittingCurve2dAPDM.

Definition at line 99 of file fitting_curve_2d_asdm.cpp.

double FittingCurve2dASDM::updateCurve ( double damp ) [virtual]

Update curve according to the current system of equations.

Parameters:

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

Reimplemented from pcl::on_nurbs::FittingCurve2dAPDM.

Definition at line 110 of file fitting_curve_2d_asdm.cpp.

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

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation