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#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
#include <pcl/surface/on_nurbs/triangulation.h>
using Point = pcl::PointXYZ;
void
CreateCylinderPoints (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data, unsigned npoints,
double alpha, double h, double r)
{
for (unsigned i = 0; i < npoints; i++)
{
double da = alpha * double (rand ()) / RAND_MAX;
double dh = h * (double (rand ()) / RAND_MAX - 0.5);
Point p;
p.x = float (r * std::cos (da));
p.y = float (r * sin (da));
p.z = float (dh);
data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
cloud->push_back (p);
}
}
int
main ()
{
unsigned npoints (200);
unsigned refinement (2);
unsigned iterations (10);
pcl::visualization::PCLVisualizer viewer ("Test: NURBS surface fitting");
viewer.setSize (800, 600);
// create point cloud
pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);
pcl::on_nurbs::NurbsDataSurface data;
CreateCylinderPoints (cloud, data.interior, npoints, M_PI, 1.0, 0.5);
viewer.addPointCloud<Point> (cloud, "cloud_cylinder");
// fit NURBS surface
ON_NurbsSurface nurbs = pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox (3, &data);
pcl::on_nurbs::FittingSurface fit (&data, nurbs);
// fit.setQuiet (false);
pcl::on_nurbs::FittingSurface::Parameter params;
params.interior_smoothness = 0.1;
params.interior_weight = 1.0;
params.boundary_smoothness = 0.1;
params.boundary_weight = 0.0;
// NURBS refinement
for (unsigned i = 0; i < refinement; i++)
{
fit.refine (0);
fit.refine (1);
}
// fitting iterations
for (unsigned i = 0; i < iterations; i++)
{
fit.assemble (params);
fit.solve ();
}
// triangulate NURBS surface
nurbs = fit.m_nurbs;
pcl::PolygonMesh mesh;
std::string mesh_id = "mesh_nurbs";
pcl::on_nurbs::Triangulation::convertSurface2PolygonMesh (nurbs, mesh, 128);
viewer.addPolygonMesh (mesh, mesh_id);
viewer.spin ();
return 0;
}
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