pcl曲面拟合

    pcl::on_nurbs::NurbsDataSurface data;
    for (auto& point : *secondDiff) {
        if (!isnan(point.x) && !isnan(point.y) && !isnan(point.z)) {
            data.interior.push_back(Eigen::Vector3d(point.x,point.y,point.z));
        }
    }

    unsigned int order(3);
    unsigned int n_control_points(100);
    ON_NurbsSurface nurbs= pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox(order, &data);

    pcl::on_nurbs::FittingSurfaceTDM fit(&data, nurbs);
    for (unsigned i = 0; i < 10; ++i) {
        fit.assemble();
        fit.solve();
    }
    pcl::PointCloud<pcl::PointXYZ>::Ptr qumian(new pcl::PointCloud<pcl::PointXYZ>);
    vector<pcl::Vertices>vertices;
    unsigned resolution = 10;
    pcl::on_nurbs::Triangulation::convertSurface2Vertices(nurbs,qumian,vertices,resolution);