PCL-B样条曲面重建

1. 算法原理

Fitting trimmed B-splines to unordered point clouds

2. 代码实现

main.cpp

#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
#include <pcl/surface/on_nurbs/fitting_curve_2d_asdm.h>
#include <pcl/surface/on_nurbs/triangulation.h>

using Point = pcl::PointXYZ;

void
PointCloud2Vector3d(pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data);

void
visualizeCurve(ON_NurbsCurve &curve,
               ON_NurbsSurface &surface,
               pcl::visualization::PCLVisualizer &viewer);

int
main() {
   
    std::string pcd_file = "bunny.pcd";
    std::string file_3dm = "bunny.ply";

    pcl::visualization::PCLVisualizer viewer("B-spline surface fitting");
    viewer.setSize(800, 600);

    // ############################################################################
    // load point cloud

    printf("  loading %s\n", pcd_file.c_str());
    pcl::PointCloud<Point>::Ptr cloud(new pcl::PointCloud<Point>);
    pcl::PCLPointCloud2 cloud2;
    pcl::on_nurbs::NurbsDataSurface data;

    if (pcl::io::loadPCDFile(pcd_file, cloud2) == -1)
        throw std::runtime_error("  PCD file not found.");

    fromPCLPointCloud2(cloud2, *cloud);
    PointCloud2Vector3d(cloud, data.interior);
    pcl::visualization::PointCloudColorHandlerCustom<Point> handler(cloud, 0, 255, 0);
    viewer.addPointCloud<Point>(cloud, handler, "cloud_cylinder");
    printf("  %lu points in data set\n", cloud->size());

    // ############################################################################
    // fit B-spline surface

    // parameters
    unsigned order(3);
    unsigned refinement(5);