/* * Software License Agreement (BSD License) * * Copyright (c) 2012-, Open Perception, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of the copyright holder(s) nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * * */ #pragma once #include #include #include namespace pcl { namespace on_nurbs { /** \brief Functions for finding the common boundary of adjacent NURBS patches * \author Thomas Mörwald * \ingroup surface */ class ClosingBoundary { public: enum Type { COMMON_BOUNDARY_POINT_MEAN, COMMON_BOUNDARY_POINT_TANGENTS, COMMON_BOUNDARY_POINT_PLANES, CLOSEST_POINTS_BOUNDARY, CLOSEST_POINTS_INTERIOR, }; struct Parameter { double max_dist; double max_error; unsigned samples; unsigned com_iter; unsigned fit_iter; double accuracy; double smoothness; double boundary_weight; double interior_weight; Type type; Parameter (double _max_dist = 0.02, double _max_error = 0.02, unsigned _samples = 10, unsigned _iter = 10, unsigned _fit_iter = 10, double _accuracy = 1e-3, double _smooth = 0.00001, double _bnd_weight = 1.0, double _int_weight = 1.0, Type _type = COMMON_BOUNDARY_POINT_MEAN) : max_dist (_max_dist), max_error (_max_error), samples (_samples), com_iter (_iter), fit_iter (_fit_iter), accuracy (_accuracy), smoothness (_smooth), boundary_weight (_bnd_weight), interior_weight (_int_weight), type (_type) { } }; /** \brief calculate the distance and end-points (P,Q) of * two skew lines defined as L0 = P0 + t*u, L1 = Q0 + s*v */ static double getLineDistance (const Eigen::Vector3d &P0, const Eigen::Vector3d &u, const Eigen::Vector3d &Q0, const Eigen::Vector3d &v, Eigen::Vector3d &P, Eigen::Vector3d &Q); /** \brief calculate intersection point of three planes */ static Eigen::Vector3d intersectPlanes (const Eigen::Vector3d &N1, double d1, const Eigen::Vector3d &N2, double d2, const Eigen::Vector3d &N3, double d3); /** \brief calculate common boundary by iteratively calculating the mean of the closest points to the * 'start' point on both of the NURBS. */ static Eigen::Vector3d commonBoundaryPoint1 (ON_NurbsSurface &n1, ON_NurbsSurface &n2, Eigen::Vector2d ¶ms1, Eigen::Vector2d ¶ms2, const Eigen::Vector3d &start, unsigned nsteps, double &error, double accuracy); /** \brief calculate common boundary by iteratively calculating the intersections of the tangent of the closest points * to the 'start' point. */ static Eigen::Vector3d commonBoundaryPoint2 (ON_NurbsSurface &n1, ON_NurbsSurface &n2, Eigen::Vector2d ¶ms1, Eigen::Vector2d ¶ms2, const Eigen::Vector3d &start, unsigned nsteps, double &error, double accuracy); /** \brief calculate common boundary by iteratively calculating the intersection of the tangent planes at the closest points * and the plane defined by the 'start' and the 2 closest points. */ static Eigen::Vector3d commonBoundaryPoint3 (ON_NurbsSurface &n1, ON_NurbsSurface &n2, Eigen::Vector2d ¶ms1, Eigen::Vector2d ¶ms2, const Eigen::Vector3d &start, unsigned nsteps, double &error, double accuracy); /** \brief sample points from nurbs surface patch, uniform distributed */ static void sampleUniform (ON_NurbsSurface *nurbs, vector_vec3d &point_list, unsigned samples); /** \brief sample points from nurbs surface patch, random distributed */ static void sampleRandom (ON_NurbsSurface *nurbs, vector_vec3d &point_list, unsigned samples); /** \brief sample points from nurbs surface boundary, uniform distributed */ static void sampleFromBoundary (ON_NurbsSurface *nurbs, vector_vec3d &point_list, vector_vec2d ¶m_list, unsigned samples); /** \brief close boundary sequentially (for global optimization, look up global_optimization.h). * Common boundary points are computed and added to */ static void optimizeBoundary (std::vector &nurbs_list, std::vector &data_list, Parameter param); // static void // optimizeControlPoints (std::vector &nurbs_list, std::vector &data_list, // Parameter param); }; } }