PCL学习：基于B样条曲线的曲面重建

测试示例：

 vs2015+release+x64

    #include     #include     #include           #include     #include     #include     #include     #include           using namespace pcl::console;     typedef pcl::PointXYZ Point;           void     PointCloud2Vector3d (pcl::PointCloud::Ptr cloud, pcl::on_nurbs::vector_vec3d &data);           void     visualizeCurve (ON_NurbsCurve &curve,                     ON_NurbsSurface &surface,                     pcl::visualization::PCLVisualizer &viewer);           int     main (int argc, char *argv[])     {       std::string pcd_file, file_3dm;             if (argc < 2)       {         printf ("\nUsage: pcl_example_nurbs_fitting_surface pcd-in-file -o 3 -rn 4 -in 10 -mr 128 -td 1\n\n");         exit (0);       }       pcd_file = argv[1];       //file_3dm = argv[2];             pcl::visualization::PCLVisualizer viewer ("B样条曲面拟合点云数据");       viewer.setBackgroundColor(0,0,0);       viewer.setSize (800, 600);             // ############################################################################       // load point cloud             printf ("  loading %s\n", pcd_file.c_str ());       pcl::PointCloud::Ptr cloud (new pcl::PointCloud);       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 handler (cloud, 0, 255, 0);       viewer.addPointCloud (cloud, handler, "cloud_cylinder");       printf ("  %lu points in data set\n", cloud->size ());             // ############################################################################       // fit B-spline surface             // parameters       unsigned order (3);       unsigned refinement (4);       unsigned iterations (10);       unsigned mesh_resolution (128);       bool two_dim=true;       parse_argument (argc, argv, "-o", order);       parse_argument (argc, argv, "-rn", refinement);       parse_argument (argc, argv, "-in", iterations);       parse_argument (argc, argv, "-mr", mesh_resolution);       parse_argument (argc, argv, "-td", two_dim);       pcl::on_nurbs::FittingSurface::Parameter params;       params.interior_smoothness = 0.2;       params.interior_weight = 1.0;       params.boundary_smoothness = 0.2;       params.boundary_weight = 0.0;             // initialize       printf ("  surface fitting ...\n");       ON_NurbsSurface nurbs = pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox (order, &data);       pcl::on_nurbs::FittingSurface fit (&data, nurbs);       //  fit.setQuiet (false); // enable/disable debug output             // mesh for visualization       pcl::PolygonMesh mesh;       pcl::PointCloud::Ptr mesh_cloud (new pcl::PointCloud);       std::vector mesh_vertices;       std::string mesh_id = "mesh_nurbs";       pcl::on_nurbs::Triangulation::convertSurface2PolygonMesh (fit.m_nurbs, mesh, mesh_resolution);       viewer.addPolygonMesh (mesh, mesh_id);       std::cout