如何使用opennurbs库和pcl库用c++语言编写出来一个nurbs曲面拟合点云的代码例子
时间: 2023-12-10 14:38:07 浏览: 52
下面是一个使用OpenNURBS库和PCL库进行NURBS曲面拟合点云的C++代码示例:
```c++
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/surface/nurbs.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/nurbs_visualizer.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
using namespace pcl::console;
using namespace pcl::visualization;
using namespace pcl::surface;
int main(int argc, char** argv)
{
// Parse command line arguments
std::vector<int> pcd_file_indices = parse_file_extension_argument(argc, argv, ".pcd");
// Load point cloud
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCDReader reader;
reader.read(argv[pcd_file_indices[0]], *cloud);
// Initialize NURBS surface
ON_NurbsSurface nurbs_surface;
int degree_u = 3;
int degree_v = 3;
int num_control_points_u = 10;
int num_control_points_v = 10;
nurbs_surface.Create(3, false, degree_u + 1, degree_v + 1, num_control_points_u, num_control_points_v);
// Set control points
for (int i = 0; i < num_control_points_u; ++i)
{
for (int j = 0; j < num_control_points_v; ++j)
{
double x = double(i) / double(num_control_points_u - 1);
double y = double(j) / double(num_control_points_v - 1);
double z = 0.0;
nurbs_surface.SetCV(i, j, ON_3dPoint(x, y, z));
}
}
// Fit NURBS surface to point cloud
NurbsFitting<pcl::PointXYZ> nf;
nf.setInputCloud(cloud);
nf.initNurbsSurface();
nf.setNurbsOrder(degree_u, degree_v);
nf.setNumControlPoints(num_control_points_u, num_control_points_v);
nf.fitPointCloud();
// Get fitted NURBS surface
nf.getOutput(nurbs_surface);
// Visualize point cloud and NURBS surface
PCLVisualizer viewer("NURBS Surface Fitting");
viewer.setBackgroundColor(0.0, 0.0, 0.0);
viewer.addPointCloud(cloud, "cloud");
viewer.setPointCloudRenderingProperties(PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
NurbsVisualizer nurbs_viewer(&viewer, nurbs_surface, "nurbs_surface");
nurbs_viewer.setTransparency(0.5);
viewer.spin();
return 0;
}
```
这个示例代码中,我们首先加载一个点云,然后初始化一个NURBS曲面,并设置控制点。接下来,我们使用PCL库中的NurbsFitting类将NURBS曲面拟合到点云上。最后,我们使用PCL可视化库来可视化原始点云和拟合的NURBS曲面。