PCL Developers blog

Thomas Moerwald

This is my personal page

project:Best fit feature estimation
mentor:Federico Tombari, University of Bologna

About me

I’m a PhD candidate at the “Automation and Control Institute” (ACIN) at the University of Technology in Vienna. My topics for the thesis, which hopefully writes itself soon, are 3D- reconstruction, object tracking and learning physical behaviour. All in a cognitive framework. I’m payed by the European project: “CogX - Cognitive Systems that Self-Understand and Self-Extend” (EU FP7 ICT, http://cogx.eu).

Source code, videos, publications and of course a little more info about my person are available here: Thomas Mörwald @ TU-Wien


  • B-Spline fitting algorithm.
  • Optimization using NURBS.

Recent status updates

Final report
Monday, September 24, 2012

As a final blog post for this Trimble Code Sprint, I am attaching the final report I have written for the sponsors.

Trimming the bunny
Tuesday, May 29, 2012

I’ve added NURBS curve fitting to the example of surface fitting. The curve is fitted to the point-cloud in the parametric domain of the NURBS surface (left images). During triangulation only vertices inside the curve are treated, borderline vertices are clamped to the curve (right images).

Fitting the bunny
Tuesday, May 22, 2012

The functions of NURBS fitting are documented within the header files. I’ve also added a test and example file in examples/surface where you can test the algorithms and try out to fit some pcd files (e.g. test/bunny.pcd). The result should look like the image below.

Coming up next:

  • Trimming of the bunny using the B-Spline curve fitting algorithm.
NURBS fitting algorithms integrated
Monday, May 21, 2012

I’ve integrated all the NURBS fitting stuff (curve and surfaces) using PDM (point-distance-minimization), TDM (tangent-distance-minimization) and SDM (squared-distance-minimization). Therefore I’ve put openNURBS 5 into the repository as well. A good comparison of the fitting techniques PDM, TDM and SDM are described in “Fitting B-spline curves to point clouds by squared distance minimization” by W. Wang, H. Pottmann, and Y. Liu (http://www.geometrie.tuwien.ac.at/ig/sn/2006/wpl_curves_06/wpl_curves_06.html)

Coming up next:

  • Consistent documentation and code cleaning.
  • Examples for better understanding of the usage.
  • Conversion of NURBS to polygon meshes.
Thursday, April 12, 2012

Hi, I’m still working on some paper for submittion next week and another one in three weeks. After that I’ll clean up the code and commit it to pcl.