PCL学习——基于B样条曲线的曲面建模程序中报错：Expression：vector subscript out of range

本人在学习PCL中基于B样条曲线的曲面建模时，按照教程中的代码进行实操时程序报错
Expression：vector subscript out of range
经研究排查，出现此问题是由于程序中某一量（变量或者常量）数值出现问题越界，不同的程序是不同的量，本程序中是在填充B样条曲线拟合参数parameters时出了问题：

curve_params.accuracy = 1e-3;

1e-3为负数，改为1或者其他正数，则程序可以运行。

原代码如下（会报错）

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
#include <pcl/surface/on_nurbs/fitting_curve_2d_asdm.h>
#include <pcl/surface/on_nurbs/triangulation.h>
#include <pcl/console/parse.h>
using namespace pcl::console;
typedef pcl::PointXYZ Point;

void
PointCloud2Vector3d(pcl::PointCloud<Point>::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<PointXYZ>-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("点云库PCL学习教程第二版-B样条曲面拟合点云数据");
	viewer.setBackgroundColor(255, 255, 255);
	viewer.setSize(800, 600);

	// ############################################################################
	// load point cloud

	printf("  loading %s\n", pcd_file.c_str());
	pcl::PointCloud<Point>::Ptr cloud(new pcl::PointCloud<Point>);
	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<Point> handler(cloud, 0, 255, 0);
	viewer.addPointCloud<Point>(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<pcl::PointXYZ>::Ptr mesh_cloud(new pcl::PointCloud<pcl::PointXYZ>);
	std::vector<pcl::Vertices> 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 << "Before refine" << endl;
	viewer.spinOnce(3000);
	// surface refinement
	for (unsigned i = 0; i < refinement; i++)
	{
		fit.refine(0);
		if (two_dim)fit.refine(1);
		fit.assemble(params);
		fit.solve();
		pcl::on_nurbs::Triangulation::convertSurface2Vertices(fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
		viewer.updatePolygonMesh<pcl::PointXYZ>(mesh_cloud, mesh_vertices, mesh_id);
		viewer.spinOnce(3000);
		std::cout << "refine: " << i << endl;
	}

	// surface fitting with final refinement level
	for (unsigned i = 0; i < iterations; i++)
	{
		fit.assemble(params);
		fit.solve();
		pcl::on_nurbs::Triangulation::convertSurface2Vertices(fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
		viewer.updatePolygonMesh<pcl::PointXYZ>(mesh_cloud, mesh_vertices, mesh_id);
		viewer.spinOnce(3000);
		std::cout << "iterations: " << i << endl;
	}

	// ############################################################################
	// fit B-spline curve

	// parameters
	pcl::on_nurbs::FittingCurve2dAPDM::FitParameter curve_params;
	curve_params.addCPsAccuracy = 5e-2;
	curve_params.addCPsIteration = 3;
	curve_params.maxCPs = 200;  
	curve_params.accuracy = 1e-3;  //*****此数值有误*****
	curve_params.iterations = 100;

	curve_params.param.closest_point_resolution = 0;
	curve_params.param.closest_point_weight = 1.0;
	curve_params.param.closest_point_sigma2 = 0.1;
	curve_params.param.interior_sigma2 = 0.00001;
	curve_params.param.smooth_concavity = 1.0;
	curve_params.param.smoothness = 1.0;

	// initialisation (circular)
	printf("  curve fitting ...\n");
	pcl::on_nurbs::NurbsDataCurve2d curve_data;
	curve_data.interior = data.interior_param;
	curve_data.interior_weight_function.push_back(true);
	ON_NurbsCurve curve_nurbs = pcl::on_nurbs::FittingCurve2dAPDM::initNurbsCurve2D(order, curve_data.interior);

	// curve fitting
	pcl::on_nurbs::FittingCurve2dASDM curve_fit(&curve_data, curve_nurbs);
	// curve_fit.setQuiet (false); // enable/disable debug output
	curve_fit.fitting(curve_params);//**==程序在运行到这一语句之前都正常==**
	visualizeCurve(curve_fit.m_nurbs, fit.m_nurbs, viewer);

	// ############################################################################
	// triangulation of trimmed surface

	printf("  triangulate trimmed surface ...\n");
	viewer.removePolygonMesh(mesh_id);
	pcl::on_nurbs::Triangulation::convertTrimmedSurface2PolygonMesh(fit.m_nurbs, curve_fit.m_nurbs, mesh,
		mesh_resolution);
	viewer.addPolygonMesh(mesh, mesh_id);


	// save trimmed B-spline surface
	/*if ( fit.m_nurbs.IsValid() )
	{
	  ONX_Model model;
	  ONX_Model_Object& surf = model.m_object_table.AppendNew();
	  surf.m_object = new ON_NurbsSurface(fit.m_nurbs);
	  surf.m_bDeleteObject = true;
	  surf.m_attributes.m_layer_index = 1;
	  surf.m_attributes.m_name = "surface";

	  ONX_Model_Object& curv = model.m_object_table.AppendNew();
	  curv.m_object = new ON_NurbsCurve(curve_fit.m_nurbs);
	  curv.m_bDeleteObject = true;
	  curv.m_attributes.m_layer_index = 2;
	  curv.m_attributes.m_name = "trimming curve";

	  model.Write(file_3dm.c_str());
	  printf("  model saved: %s\n", file_3dm.c_str());
	}*/

	printf("  ... done.\n");

	viewer.spin();
	return 0;
}

void
PointCloud2Vector3d(pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
{
	for (unsigned i = 0; i < cloud->size(); i++)
	{
		Point &p = cloud->at(i);
		if (!pcl_isnan(p.x) && !pcl_isnan(p.y) && !pcl_isnan(p.z))
			data.push_back(Eigen::Vector3d(p.x, p.y, p.z));
	}
}

void
visualizeCurve(ON_NurbsCurve &curve, ON_NurbsSurface &surface, pcl::visualization::PCLVisualizer &viewer)
{
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

	pcl::on_nurbs::Triangulation::convertCurve2PointCloud(curve, surface, curve_cloud, 4);
	for (std::size_t i = 0; i < curve_cloud->size() - 1; i++)
	{
		pcl::PointXYZRGB &p1 = curve_cloud->at(i);
		pcl::PointXYZRGB &p2 = curve_cloud->at(i + 1);
		std::ostringstream os;
		os << "line" << i;
		viewer.removeShape(os.str());
		viewer.addLine<pcl::PointXYZRGB>(p1, p2, 1.0, 0.0, 0.0, os.str());
	}

	pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cps(new pcl::PointCloud<pcl::PointXYZRGB>);
	for (int i = 0; i < curve.CVCount(); i++)
	{
		ON_3dPoint p1;
		curve.GetCV(i, p1);

		double pnt[3];
		surface.Evaluate(p1.x, p1.y, 0, 3, pnt);
		pcl::PointXYZRGB p2;
		p2.x = float(pnt[0]);
		p2.y = float(pnt[1]);
		p2.z = float(pnt[2]);

		p2.r = 255;
		p2.g = 0;
		p2.b = 0;

		curve_cps->push_back(p2);
	}
	viewer.removePointCloud("cloud_cps");
	viewer.addPointCloud(curve_cps, "cloud_cps");
}