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

#include <global_optimization_pdm.h>

Inheritance diagram for pcl::on_nurbs::GlobalOptimization:

[legend]

List of all members.

Classes
struct	Parameter
	Parameters for fitting. More...
Public Member Functions
virtual void	assemble (Parameter params=Parameter())
	Assemble the system of equations for fitting.
	GlobalOptimization (const std::vector< NurbsDataSurface * > &data, const std::vector< ON_NurbsSurface * > &nurbs)
	Constructor with a set of data and a set of B-Spline surfaces.
void	refine (unsigned id, int dim)
	Refines specified surface by inserting a knot in the middle of each element.
void	setCommonBoundary (const vector_vec3d &boundary, const vector_vec2i &nurbs_indices)
	Set common boundary points two NURBS should lie on.
void	setInvMapParams (double im_max_steps, double im_accuracy)
	Set parameters for inverse mapping.
void	setQuiet (bool val)
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	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	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).
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.
virtual void	assembleCommonBoundaries (unsigned id1, double weight, unsigned &row)
	Assemble closing-constraint of boundaries using data.boundary for getting closest points.
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.
virtual void	assembleRegularisation (unsigned id, int ncps, double wCageRegInt, double wCageRegBnd, unsigned &row)
	Assemble smoothness constraints.
int	gl2gc (const ON_NurbsSurface &nurbs, int A)
int	gl2gr (const ON_NurbsSurface &nurbs, int A)
int	grc2gl (const ON_NurbsSurface &nurbs, int I, int J)
int	lrc2gl (const ON_NurbsSurface &nurbs, int E, int F, int i, int j)
Protected Attributes
double	im_accuracy
int	im_max_steps
std::vector< NurbsDataSurface * >	m_data
unsigned	m_ncols
unsigned	m_nrows
std::vector< ON_NurbsSurface * >	m_nurbs
bool	m_quiet
NurbsSolve	m_solver

Detailed Description

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

Author:: Thomas Mörwald

Definition at line 55 of file global_optimization_pdm.h.

Constructor & Destructor Documentation

GlobalOptimization::GlobalOptimization	(	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 48 of file global_optimization_pdm.cpp.

Member Function Documentation

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

Add minimization constraint: boundary smoothness by control point regularisation.

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 605 of file global_optimization_pdm.cpp.

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

Add minimization constraint: corner smoothness by control point regularisation.

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 655 of file global_optimization_pdm.cpp.

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

Add minimization constraint: interior smoothness by control point regularisation.

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 578 of file global_optimization_pdm.cpp.

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

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

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 483 of file global_optimization_pdm.cpp.

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

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

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 538 of file global_optimization_pdm.cpp.

void GlobalOptimization::assemble ( Parameter params = 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 in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 74 of file global_optimization_pdm.cpp.

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

Assemble point-to-surface constraints for boundary points.

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 408 of file global_optimization_pdm.cpp.

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

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

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 312 of file global_optimization_pdm.cpp.

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

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

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 225 of file global_optimization_pdm.cpp.

void GlobalOptimization::assembleCommonParams	(	unsigned	id1,
		double	weight,
		unsigned &	row
	)		`[protected]`

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 212 of file global_optimization_pdm.cpp.

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

Assemble point-to-surface constraints for interior points.

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 355 of file global_optimization_pdm.cpp.

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

Assemble smoothness constraints.

Reimplemented in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 460 of file global_optimization_pdm.cpp.

int pcl::on_nurbs::GlobalOptimization::gl2gc	(	const ON_NurbsSurface &	nurbs,
		int	A
	)		`[inline, protected]`

Definition at line 202 of file global_optimization_pdm.h.

int pcl::on_nurbs::GlobalOptimization::gl2gr	(	const ON_NurbsSurface &	nurbs,
		int	A
	)		`[inline, protected]`

Definition at line 197 of file global_optimization_pdm.h.

int pcl::on_nurbs::GlobalOptimization::grc2gl	(	const ON_NurbsSurface &	nurbs,
		int	I,
		int	J
	)		`[inline, protected]`

Definition at line 187 of file global_optimization_pdm.h.

int pcl::on_nurbs::GlobalOptimization::lrc2gl	(	const ON_NurbsSurface &	nurbs,
		int	E,
		int	F,
		int	i,
		int	j
	)		`[inline, protected]`

Definition at line 192 of file global_optimization_pdm.h.

void GlobalOptimization::refine	(	unsigned	id,
		int	dim
	)

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

Parameters:

[in]	id	the index of the surface to be refined.
[in]	dim	dimension of refinement (0,1)

Definition at line 197 of file global_optimization_pdm.cpp.

void GlobalOptimization::setCommonBoundary	(	const vector_vec3d &	boundary,
		const vector_vec2i &	nurbs_indices
	)

Set common boundary points two NURBS should lie on.

Parameters:

[in]	boundary	vector of boundary points.
[in]	nurbs_indices	vector of 2 NURBS indices sharing the boundary point.

Definition at line 64 of file global_optimization_pdm.cpp.

void GlobalOptimization::setInvMapParams	(	double	im_max_steps,
		double	im_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 190 of file global_optimization_pdm.cpp.

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

Definition at line 122 of file global_optimization_pdm.h.

void GlobalOptimization::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 in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 151 of file global_optimization_pdm.cpp.

void GlobalOptimization::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 in pcl::on_nurbs::GlobalOptimizationTDM.

Definition at line 158 of file global_optimization_pdm.cpp.

Member Data Documentation

double pcl::on_nurbs::GlobalOptimization::im_accuracy [protected]

Definition at line 183 of file global_optimization_pdm.h.

int pcl::on_nurbs::GlobalOptimization::im_max_steps [protected]

Definition at line 182 of file global_optimization_pdm.h.

std::vector<NurbsDataSurface*> pcl::on_nurbs::GlobalOptimization::m_data [protected]

Definition at line 130 of file global_optimization_pdm.h.

unsigned pcl::on_nurbs::GlobalOptimization::m_ncols [protected]

Definition at line 181 of file global_optimization_pdm.h.

unsigned pcl::on_nurbs::GlobalOptimization::m_nrows [protected]

Definition at line 181 of file global_optimization_pdm.h.

std::vector<ON_NurbsSurface*> pcl::on_nurbs::GlobalOptimization::m_nurbs [protected]

Definition at line 131 of file global_optimization_pdm.h.

bool pcl::on_nurbs::GlobalOptimization::m_quiet [protected]

Definition at line 180 of file global_optimization_pdm.h.

NurbsSolve pcl::on_nurbs::GlobalOptimization::m_solver [protected]

Definition at line 179 of file global_optimization_pdm.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation