#include <sequential_fitter.h>

Classes
struct	Parameter
Public Member Functions
ON_NurbsSurface	compute (bool assemble=false)
	Compute point cloud and fit (multiple) models.
ON_NurbsSurface	compute_boundary (const ON_NurbsSurface &nurbs)
	Compute boundary points and fit (multiple) models (without interior points - minimal curvature surface)
ON_NurbsSurface	compute_interior (const ON_NurbsSurface &nurbs)
	Compute interior points and fit (multiple) models (without boundary points)
void	getBoundaryError (std::vector< double > &error)
	Get error of each boundary point (L2-norm of point to closest point on surface) and square-error.
void	getBoundaryNormals (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &normals)
	get the normals to the boundary points given by setBoundary()
void	getBoundaryParams (std::vector< Eigen::Vector2d, Eigen::aligned_allocator< Eigen::Vector2d > > &params)
	Get parameter of each boundary point.
void	getInteriorError (std::vector< double > &error)
	Get error of each interior point (L2-norm of point to closest point on surface) and square-error.
void	getInteriorNormals (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &normal)
	get the normals to the interior points given by setInterior()
void	getInteriorParams (std::vector< Eigen::Vector2d, Eigen::aligned_allocator< Eigen::Vector2d > > &params)
	Get parameter of each interior point.
ON_NurbsSurface	getNurbs ()
	Get resulting NURBS surface.
ON_NurbsSurface	grow (float max_dist=1.0f, float max_angle=M_PI_4, unsigned min_length=0, unsigned max_length=10)
	Growing algorithm (TODO: under construction)
	SequentialFitter (Parameter p=Parameter())
void	setBoundary (pcl::PointIndices::Ptr &pcl_cloud_indices)
	Set boundary points of input point cloud.
void	setCorners (pcl::PointIndices::Ptr &corners, bool flip_on_demand=true)
	Set corner points of input point cloud.
void	setInputCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pcl_cloud)
	Set input point cloud.
void	setInterior (pcl::PointIndices::Ptr &pcl_cloud_indices)
	Set interior points of input point cloud.
void	setParams (const Parameter &p)
void	setProjectionMatrix (const Eigen::Matrix4d &intrinsic, const Eigen::Matrix4d &extrinsic)
	Set camera- and world matrices, for projection and back-face detection.
Static Public Member Functions
static void	getClosestPointOnNurbs (ON_NurbsSurface nurbs, const Eigen::Vector3d &pt, Eigen::Vector2d &params, int maxSteps=100, double accuracy=1e-4)
	Get the closest point on a NURBS from a point pt in parameter space.
static unsigned	PCL2ON (pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pcl_cloud, const std::vector< int > &indices, vector_vec3d &cloud)
	Convert point-cloud.
Private Member Functions
void	compute_boundary (FittingSurface *fitting)
void	compute_interior (FittingSurface *fitting)
void	compute_quadfit ()
void	compute_refinement (FittingSurface *fitting)
bool	is_back_facing (const Eigen::Vector3d &v0, const Eigen::Vector3d &v1, const Eigen::Vector3d &v2, const Eigen::Vector3d &v3)
Eigen::Vector2d	project (const Eigen::Vector3d &pt)
Private Attributes
pcl::PointIndices::Ptr	m_boundary_indices
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	m_cloud
ON_3dPoint	m_corners [4]
NurbsDataSurface	m_data
Eigen::Matrix4d	m_extrinsic
bool	m_have_cloud
bool	m_have_corners
pcl::PointIndices::Ptr	m_interior_indices
Eigen::Matrix4d	m_intrinsic
ON_NurbsSurface	m_nurbs
Parameter	m_params
int	m_surf_id

Detailed Description

Definition at line 63 of file sequential_fitter.h.

Constructor & Destructor Documentation

SequentialFitter::SequentialFitter ( Parameter p = Parameter () )

Definition at line 63 of file sequential_fitter.cpp.

Member Function Documentation

ON_NurbsSurface SequentialFitter::compute ( bool assemble = false )

Compute point cloud and fit (multiple) models.

Definition at line 286 of file sequential_fitter.cpp.

void SequentialFitter::compute_boundary ( FittingSurface * fitting ) [private]

Definition at line 140 of file sequential_fitter.cpp.

ON_NurbsSurface SequentialFitter::compute_boundary ( const ON_NurbsSurface & nurbs )

Compute boundary points and fit (multiple) models (without interior points - minimal curvature surface)

Definition at line 381 of file sequential_fitter.cpp.

void SequentialFitter::compute_interior ( FittingSurface * fitting ) [private]

Definition at line 152 of file sequential_fitter.cpp.

ON_NurbsSurface SequentialFitter::compute_interior ( const ON_NurbsSurface & nurbs )

Compute interior points and fit (multiple) models (without boundary points)

Definition at line 404 of file sequential_fitter.cpp.

void SequentialFitter::compute_quadfit ( ) [private]

Definition at line 72 of file sequential_fitter.cpp.

void SequentialFitter::compute_refinement ( FittingSurface * fitting ) [private]

Definition at line 125 of file sequential_fitter.cpp.

void SequentialFitter::getBoundaryError ( std::vector< double > & error )

Get error of each boundary point (L2-norm of point to closest point on surface) and square-error.

Definition at line 432 of file sequential_fitter.cpp.

void SequentialFitter::getBoundaryNormals ( std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > & normals )

get the normals to the boundary points given by setBoundary()

Definition at line 456 of file sequential_fitter.cpp.

void SequentialFitter::getBoundaryParams ( std::vector< Eigen::Vector2d, Eigen::aligned_allocator< Eigen::Vector2d > > & params )

Get parameter of each boundary point.

Definition at line 444 of file sequential_fitter.cpp.

void SequentialFitter::getClosestPointOnNurbs	(	ON_NurbsSurface	nurbs,
		const Eigen::Vector3d &	pt,
		Eigen::Vector2d &	params,
		int	maxSteps = `100`,
		double	accuracy = `1e-4`
	)		`[static]`

Get the closest point on a NURBS from a point pt in parameter space.

Parameters:

[in]	nurbs	The NURBS surface
[in]	pt	A point in 3D from which the closest point is calculated
[out]	params	The closest point on the NURBS in parameter space
[in]	maxSteps	Maximum iteration steps
[in]	accuracy	Accuracy below which the iterations stop

Definition at line 462 of file sequential_fitter.cpp.

void SequentialFitter::getInteriorError ( std::vector< double > & error )

Get error of each interior point (L2-norm of point to closest point on surface) and square-error.

Definition at line 426 of file sequential_fitter.cpp.

void SequentialFitter::getInteriorNormals ( std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > & normal )

get the normals to the interior points given by setInterior()

Definition at line 450 of file sequential_fitter.cpp.

void SequentialFitter::getInteriorParams ( std::vector< Eigen::Vector2d, Eigen::aligned_allocator< Eigen::Vector2d > > & params )

Get parameter of each interior point.

Definition at line 438 of file sequential_fitter.cpp.

ON_NurbsSurface pcl::on_nurbs::SequentialFitter::getNurbs ( ) [inline]

Get resulting NURBS surface.

Definition at line 171 of file sequential_fitter.h.

ON_NurbsSurface SequentialFitter::grow	(	float	max_dist = `1.0f`,
		float	max_angle = `M_PI_4`,
		unsigned	min_length = `0`,
		unsigned	max_length = `10`
	)

Growing algorithm (TODO: under construction)

Definition at line 477 of file sequential_fitter.cpp.

bool SequentialFitter::is_back_facing	(	const Eigen::Vector3d &	v0,
		const Eigen::Vector3d &	v1,
		const Eigen::Vector3d &	v2,
		const Eigen::Vector3d &	v3
	)		`[private]`

Definition at line 182 of file sequential_fitter.cpp.

unsigned SequentialFitter::PCL2ON	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pcl_cloud,
		const std::vector< int > &	indices,
		vector_vec3d &	cloud
	)		`[static]`