PCL Developers blog

Thomas Moerwald

This is my personal page

email:moerwald@acin.tuwien.ac.at
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

Roadmap

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

Recent status updates

Final report
Monday, September 24, 2012
../../_images/trcs3.png

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
../../_images/trcs3.png

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).

../../_images/nurbs_bunny_trim.png
Fitting the bunny
Tuesday, May 22, 2012
../../_images/trcs3.png

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.
../../_images/nurbs_bunny.png
NURBS fitting algorithms integrated
Monday, May 21, 2012
../../_images/trcs3.png

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.
Publishing
Thursday, April 12, 2012
../../_images/trcs3.png

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.