根据点云拟合nurbs曲面

完整的代码：

# encoding: utf-8
import geomdl
print(geomdl.__version__)
from geomdl import BSpline
# from geomdl.visualization import VisMPL# Control points
ctrlpts = [[[-0.14138151959111978, -0.14664847481571902, 0], [-0.14138151959111978, -0.13367998192001185, 0], [-0.14138151959111978, -0.12071148902430469, 0], [-0.14138151959111978, -0.10774299612859753, 0], [-0.14138151959111978, -0.09477450323289036, 0], [-0.14138151959111978, -0.0818060103371832, 0], [-0.14138151959111978, -0.06883751744147604, 0], [-0.14138151959111978, -0.055869024545768864, 0], [-0.14138151959111978, -0.042900531650061705, 0], [-0.14138151959111978, -0.029932038754354545, 0]], [[-0.13520779955416828, -0.02993203875435455, 0], [-0.13520779955416828, -0.04290053165006171, 0], [-0.13520779955416828, -0.05586902454576888, 0], [-0.13520779955416828, -0.06883751744147604, 0], [-0.13520779955416828, -0.08180601033718321, 0], [-0.13520779955416828, -0.09477450323289037, 0], [-0.13520779955416828, -0.10774299612859753, 0], [-0.13520779955416828, -0.1207114890243047, 0], [-0.13520779955416828, -0.13367998192001188, 0], [-0.13520779955416828, -0.14664847481571902, 0]], [[-0.12903407951721682, -0.14664847481571902, 0], [-0.12903407951721682, -0.13367998192001185, 0], [-0.12903407951721682, -0.12071148902430469, 0], [-0.12903407951721682, -0.10774299612859753, 0], [-0.12903407951721682, -0.09477450323289036, 0], [-0.12903407951721682, -0.0818060103371832, 0], [-0.12903407951721682, -0.06883751744147604, 0], [-0.12903407951721682, -0.055869024545768864, 0], [-0.12903407951721682, -0.042900531650061705, 0], [-0.12903407951721682, -0.029932038754354545, 0]], [[-0.12286035948026534, -0.02993203875435455, 0], [-0.12286035948026534, -0.04290053165006171, 0], [-0.12286035948026534, -0.05586902454576888, 0], [-0.12286035948026534, -0.06883751744147604, 0], [-0.12286035948026534, -0.08180601033718321, 0], [-0.12286035948026534, -0.09477450323289037, 0], [-0.12286035948026534, -0.10774299612859753, 0], [-0.12286035948026534, -0.1207114890243047, 0], [-0.12286035948026534, -0.13367998192001188, 0], [-0.12286035948026534, -0.14664847481571902, 0]], [[-0.11668663944331387, -0.14664847481571902, 0], [-0.11668663944331387, -0.13367998192001185, 0], [-0.11668663944331387, -0.12071148902430469, 0], [-0.11668663944331387, -0.10774299612859753, 0], [-0.11668663944331387, -0.09477450323289036, 0], [-0.11668663944331387, -0.0818060103371832, 0], [-0.11668663944331387, -0.06883751744147604, 0], [-0.11668663944331387, -0.055869024545768864, 0], [-0.11668663944331387, -0.042900531650061705, 0], [-0.11668663944331387, -0.029932038754354545, 0]], [[-0.11051291940636239, -0.02993203875435455, 0], [-0.11051291940636239, -0.04290053165006171, 0], [-0.11051291940636239, -0.05586902454576888, 0], [-0.11051291940636239, -0.06883751744147604, 0], [-0.11051291940636239, -0.08180601033718321, 0], [-0.11051291940636239, -0.09477450323289037, 0], [-0.11051291940636239, -0.10774299612859753, 0], [-0.11051291940636239, -0.1207114890243047, 0], [-0.11051291940636239, -0.13367998192001188, 0], [-0.11051291940636239, -0.14664847481571902, 0]], [[-0.10433919936941091, -0.14664847481571902, 0], [-0.10433919936941091, -0.13367998192001185, 0], [-0.10433919936941091, -0.12071148902430469, 0], [-0.10433919936941091, -0.10774299612859753, 0], [-0.10433919936941091, -0.09477450323289036, 0], [-0.10433919936941091, -0.0818060103371832, 0], [-0.10433919936941091, -0.06883751744147604, 0], [-0.10433919936941091, -0.055869024545768864, 0], [-0.10433919936941091, -0.042900531650061705, 0], [-0.10433919936941091, -0.029932038754354545, 0]], [[-0.09816547933245942, -0.02993203875435455, 0], [-0.09816547933245942, -0.04290053165006171, 0], [-0.09816547933245942, -0.05586902454576888, 0], [-0.09816547933245942, -0.06883751744147604, 0], [-0.09816547933245942, -0.08180601033718321, 0], [-0.09816547933245942, -0.09477450323289037, 0], [-0.09816547933245942, -0.10774299612859753, 0], [-0.09816547933245942, -0.1207114890243047, 0], [-0.09816547933245942, -0.13367998192001188, 0], [-0.09816547933245942, -0.14664847481571902, 0]], [[-0.09199175929550796, -0.14664847481571902, 0], [-0.09199175929550796, -0.13367998192001185, 0], [-0.09199175929550796, -0.12071148902430469, 0], [-0.09199175929550796, -0.10774299612859753, 0], [-0.09199175929550796, -0.09477450323289036, 0], [-0.09199175929550796, -0.0818060103371832, 0], [-0.09199175929550796, -0.06883751744147604, 0], [-0.09199175929550796, -0.055869024545768864, 0], [-0.09199175929550796, -0.042900531650061705, 0], [-0.09199175929550796, -0.029932038754354545, 0]], [[-0.08581803925855647, -0.02993203875435455, 0], [-0.08581803925855647, -0.04290053165006171, 0], [-0.08581803925855647, -0.05586902454576888, 0], [-0.08581803925855647, -0.06883751744147604, 0], [-0.08581803925855647, -0.08180601033718321, 0], [-0.08581803925855647, -0.09477450323289037, 0], [-0.08581803925855647, -0.10774299612859753, 0], [-0.08581803925855647, -0.1207114890243047, 0], [-0.08581803925855647, -0.13367998192001188, 0], [-0.08581803925855647, -0.14664847481571902, 0]], [[-0.079644319221605, -0.14664847481571902, 0], [-0.079644319221605, -0.13367998192001185, 0], [-0.079644319221605, -0.12071148902430469, 0], [-0.079644319221605, -0.10774299612859753, 0], [-0.079644319221605, -0.09477450323289036, 0], [-0.079644319221605, -0.0818060103371832, 0], [-0.079644319221605, -0.06883751744147604, 0], [-0.079644319221605, -0.055869024545768864, 0], [-0.079644319221605, -0.042900531650061705, 0], [-0.079644319221605, -0.029932038754354545, 0]], [[-0.07347059918465351, -0.02993203875435455, 0], [-0.07347059918465351, -0.04290053165006171, 0], [-0.07347059918465351, -0.05586902454576888, 0], [-0.07347059918465351, -0.06883751744147604, 0], [-0.07347059918465351, -0.08180601033718321, 0], [-0.07347059918465351, -0.09477450323289037, 0], [-0.07347059918465351, -0.10774299612859753, 0], [-0.07347059918465351, -0.1207114890243047, 0], [-0.07347059918465351, -0.13367998192001188, 0], [-0.07347059918465351, -0.14664847481571902, 0]], [[-0.06729687914770204, -0.14664847481571902, 0], [-0.06729687914770204, -0.13367998192001185, 0], [-0.06729687914770204, -0.12071148902430469, 0], [-0.06729687914770204, -0.10774299612859753, 0], [-0.06729687914770204, -0.09477450323289036, 0], [-0.06729687914770204, -0.0818060103371832, 0], [-0.06729687914770204, -0.06883751744147604, 0], [-0.06729687914770204, -0.055869024545768864, 0], [-0.06729687914770204, -0.042900531650061705, 0], [-0.06729687914770204, -0.029932038754354545, 0]], [[-0.06112315911075056, -0.02993203875435455, 0], [-0.06112315911075056, -0.04290053165006171, 0], [-0.06112315911075056, -0.05586902454576888, 0], [-0.06112315911075056, -0.06883751744147604, 0], [-0.06112315911075056, -0.08180601033718321, 0], [-0.06112315911075056, -0.09477450323289037, 0], [-0.06112315911075056, -0.10774299612859753, 0], [-0.06112315911075056, -0.1207114890243047, 0], [-0.06112315911075056, -0.13367998192001188, 0], [-0.06112315911075056, -0.14664847481571902, 0]], [[-0.05494943907379908, -0.14664847481571902, 0], [-0.05494943907379908, -0.13367998192001185, 0], [-0.05494943907379908, -0.12071148902430469, 0], [-0.05494943907379908, -0.10774299612859753, 0], [-0.05494943907379908, -0.09477450323289036, 0], [-0.05494943907379908, -0.0818060103371832, 0], [-0.05494943907379908, -0.06883751744147604, 0], [-0.05494943907379908, -0.055869024545768864, 0], [-0.05494943907379908, -0.042900531650061705, 0], [-0.05494943907379908, -0.029932038754354545, 0]], [[-0.0487757190368476, -0.02993203875435455, 0], [-0.0487757190368476, -0.04290053165006171, 0], [-0.0487757190368476, -0.05586902454576888, 0], [-0.0487757190368476, -0.06883751744147604, 0], [-0.0487757190368476, -0.08180601033718321, 0], [-0.0487757190368476, -0.09477450323289037, 0], [-0.0487757190368476, -0.10774299612859753, 0], [-0.0487757190368476, -0.1207114890243047, 0], [-0.0487757190368476, -0.13367998192001188, 0], [-0.0487757190368476, -0.14664847481571902, 0]], [[-0.042601998999896126, -0.14664847481571902, 0], [-0.042601998999896126, -0.13367998192001185, 0], [-0.042601998999896126, -0.12071148902430469, 0], [-0.042601998999896126, -0.10774299612859753, 0], [-0.042601998999896126, -0.09477450323289036, 0], [-0.042601998999896126, -0.0818060103371832, 0], [-0.042601998999896126, -0.06883751744147604, 0], [-0.042601998999896126, -0.055869024545768864, 0], [-0.042601998999896126, -0.042900531650061705, 0], [-0.042601998999896126, -0.029932038754354545, 0]], [[-0.03642827896294465, -0.02993203875435455, 0], [-0.03642827896294465, -0.04290053165006171, 0], [-0.03642827896294465, -0.05586902454576888, 0], [-0.03642827896294465, -0.06883751744147604, 0], [-0.03642827896294465, -0.08180601033718321, 0], [-0.03642827896294465, -0.09477450323289037, 0], [-0.03642827896294465, -0.10774299612859753, 0], [-0.03642827896294465, -0.1207114890243047, 0], [-0.03642827896294465, -0.13367998192001188, 0], [-0.03642827896294465, -0.14664847481571902, 0]], [[-0.030254558925993172, -0.14664847481571902, 0], [-0.030254558925993172, -0.13367998192001185, 0], [-0.030254558925993172, -0.12071148902430469, 0], [-0.030254558925993172, -0.10774299612859753, 0], [-0.030254558925993172, -0.09477450323289036, 0], [-0.030254558925993172, -0.0818060103371832, 0], [-0.030254558925993172, -0.06883751744147604, 0], [-0.030254558925993172, -0.055869024545768864, 0], [-0.030254558925993172, -0.042900531650061705, 0], [-0.030254558925993172, -0.029932038754354545, 0]], [[-0.024080838889041695, -0.02993203875435455, 0], [-0.024080838889041695, -0.04290053165006171, 0], [-0.024080838889041695, -0.05586902454576888, 0], [-0.024080838889041695, -0.06883751744147604, 0], [-0.024080838889041695, -0.08180601033718321, 0], [-0.024080838889041695, -0.09477450323289037, 0], [-0.024080838889041695, -0.10774299612859753, 0], [-0.024080838889041695, -0.1207114890243047, 0], [-0.024080838889041695, -0.13367998192001188, 0], [-0.024080838889041695, -0.14664847481571902, 0]]]
# ctrlpts = [
#     [[-25.0, -25.0, -10.0], [-25.0, -15.0, -5.0], [-25.0, -5.0, 0.0], [-25.0, 5.0, 0.0], [-25.0, 15.0, -5.0], [-25.0, 25.0, -10.0]],
#     [[-15.0, -25.0, -8.0], [-15.0, -15.0, -4.0], [-15.0, -5.0, -4.0], [-15.0, 5.0, -4.0], [-15.0, 15.0, -4.0], [-15.0, 25.0, -8.0]],
#     [[-5.0, -25.0, -5.0], [-5.0, -15.0, -3.0], [-5.0, -5.0, -8.0], [-5.0, 5.0, -8.0], [-5.0, 15.0, -3.0], [-5.0, 25.0, -5.0]],
#     [[5.0, -25.0, -3.0], [5.0, -15.0, -2.0], [5.0, -5.0, -8.0], [5.0, 5.0, -8.0], [5.0, 15.0, -2.0], [5.0, 25.0, -3.0]],
#     [[15.0, -25.0, -8.0], [15.0, -15.0, -4.0], [15.0, -5.0, -4.0], [15.0, 5.0, -4.0], [15.0, 15.0, -4.0], [15.0, 25.0, -8.0]],
#     [[25.0, -25.0, -10.0], [25.0, -15.0, -5.0], [25.0, -5.0, 2.0], [25.0, 5.0, 2.0], [25.0, 15.0, -5.0], [25.0, 25.0, -10.0]]
# ]
# ctrlpts = [[[-0.14138151959111978, -0.14664847481571902, 0], [-0.14138151959111978, -0.13367998192001185, 0], [-0.14138151959111978, -0.12071148902430469, 0], [-0.14138151959111978, -0.10774299612859753, 0], [-0.14138151959111978, -0.09477450323289036, 0], [-0.14138151959111978, -0.0818060103371832, 0]], 
#            [[-0.13520779955416828, -0.02993203875435455, 0], [-0.13520779955416828, -0.04290053165006171, 0], [-0.13520779955416828, -0.05586902454576888, 0], [-0.13520779955416828, -0.06883751744147604, 0], [-0.13520779955416828, -0.08180601033718321, 0], [-0.13520779955416828, -0.09477450323289037, 0]], 
#            [[-0.12903407951721682, -0.14664847481571902, 0], [-0.12903407951721682, -0.13367998192001185, 0], [-0.12903407951721682, -0.12071148902430469, 0], [-0.12903407951721682, -0.10774299612859753, 0], [-0.12903407951721682, -0.09477450323289036, 0], [-0.12903407951721682, -0.0818060103371832, 0]], 
#            [[-0.12286035948026534, -0.02993203875435455, 0], [-0.12286035948026534, -0.04290053165006171, 0], [-0.12286035948026534, -0.05586902454576888, 0], [-0.12286035948026534, -0.06883751744147604, 0], [-0.12286035948026534, -0.08180601033718321, 0], [-0.12286035948026534, -0.09477450323289037, 0]], 
#            [[-0.11668663944331387, -0.14664847481571902, 0], [-0.11668663944331387, -0.13367998192001185, 0], [-0.11668663944331387, -0.12071148902430469, 0], [-0.11668663944331387, -0.10774299612859753, 0], [-0.11668663944331387, -0.09477450323289036, 0], [-0.11668663944331387, -0.0818060103371832, 0]], 
#            [[-0.11051291940636239, -0.02993203875435455, 0], [-0.11051291940636239, -0.04290053165006171, 0], [-0.11051291940636239, -0.05586902454576888, 0], [-0.11051291940636239, -0.06883751744147604, 0], [-0.11051291940636239, -0.08180601033718321, 0], [-0.11051291940636239, -0.09477450323289037, 0]], 
#            ]
ctrlpts = [[[-0.14138151959111978, -0.14664847481571902, 0], [-0.14138151959111978, -0.13367998192001185, 0], [-0.14138151959111978, -0.12071148902430469, 0], [-0.14138151959111978, -0.10774299612859753, 0], [-0.14138151959111978, -0.09477450323289036, 0], [-0.14138151959111978, -0.0818060103371832, 0], [-0.14138151959111978, -0.06883751744147604, 0], [-0.14138151959111978, -0.055869024545768864, 0], [-0.14138151959111978, -0.042900531650061705, 0], [-0.14138151959111978, -0.029932038754354545, 0]], [[-0.12903407951721682, -0.14664847481571902, 0], [-0.12903407951721682, -0.13367998192001185, 0], [-0.12903407951721682, -0.12071148902430469, 0], [-0.12903407951721682, -0.10774299612859753, 0], [-0.12903407951721682, -0.09477450323289036, 0], [-0.12903407951721682, -0.0818060103371832, 0], [-0.12903407951721682, -0.06883751744147604, 0], [-0.12903407951721682, -0.055869024545768864, 0], [-0.12903407951721682, -0.042900531650061705, 0], [-0.12903407951721682, -0.029932038754354545, 0]], 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-0.20237656239593924, 0.228991882], [0.43959415859415685, -0.1586759648209195, 0.23194888030000002], [0.43959415859415685, -0.1149753672458998, 0.23462873860000003], [0.43959415859415685, -0.07127476967088009, 0.2368263197], [0.43959415859415685, -0.027574172095860328, 0.24436860180000003], [0.43959415859415685, 0.01612642547915938, 0.239770729], [0.43959415859415685, 0.059827023054179085, 0.23700326359999999], [0.43959415859415685, 0.10352762062919879, 0.24123687459999998]], [[0.46401605629383225, -0.2897777575459787, 0.228991882], [0.46401605629383225, -0.24607715997095897, 0.23116480350000002], [0.46401605629383225, -0.20237656239593924, 0.24043857086], [0.46401605629383225, -0.1586759648209195, 0.23477968500000002], [0.46401605629383225, -0.1149753672458998, 0.24412456880000002], [0.46401605629383225, -0.07127476967088009, 0.24255738620000003], [0.46401605629383225, -0.027574172095860328, 0.24111023780000002], [0.46401605629383225, 0.01612642547915938, 0.239770729], [0.46401605629383225, 0.059827023054179085, 0.23700326359999999], [0.46401605629383225, 0.10352762062919879, 0.2416414023]]]print(len(ctrlpts))
print(len(ctrlpts[0]))# Create a BSpline surface
surf = BSpline.Surface()# Set degrees
surf.degree_u = 3
surf.degree_v = 3# Set control points
surf.ctrlpts2d = ctrlpts# Set knot vectors 
# v的维数 = 3+每条路多少点+1
# # u的维数 = 3+多少条路+1
knotvector_v=[]
count=0.0
for i in range(len(ctrlpts[0])+4):knotvector_v.append(count)if i>1:if i-11:if i-1

#! /usr/bin/env python3.8
# encoding: utf-8
import open3d as o3d
import copy
import numpy as np
import math
import rospy
from geometry_msgs.msg import PoseStamped
from pyquaternion import Quaternion
from sensor_msgs.msg import PointCloud2, PointField
from sensor_msgs import point_cloud2
from std_msgs.msg import Header
from sklearn.linear_model import RANSACRegressor
from sklearn.preprocessing import PolynomialFeatures
from sklearn.linear_model import LinearRegression
import geomdl
from geomdl import BSpline
import numpy as np
import matplotlib.pyplot as plt## 函数区
# 拟合曲面
def nihequmm(xmin,xmax,ymin,ymax,Nx,points,step_num):paths = []dx = float(xmax-xmin)/(Nx-1)  # the y step-overpath=[]for n in range(0,Nx):x = xmin+n*dx              # current y-coordinate p1 = [x,ymin,0]   # start-point of linep2 = [x,ymax,0]   # end-point of linepath.append(p1)       # add the line to the pathpath.append(p2)fpath=[]path_n=[]n=len(path)for i in range(n//2):path_temp=[]for j in range(step_num):p=[path[2*i][0],path[2*i][1]+j*step,path[2*i][2]]temp=[]for m in range(len(points)):temp.append(math.sqrt((p[0]-points[m][0])**2+(p[1]-points[m][1])**2))min_index=np.argmin(temp)# print(min_value)p[2]=points[min_index][2]path_temp.append(p)path_n.append(path_temp)# 中间点# Control pointsctrlpts = path_n# Create a BSpline surfacesurf = BSpline.Surface()# Set degreessurf.degree_u = 3surf.degree_v = 3# Set control pointssurf.ctrlpts2d = ctrlpts# Set knot vectors # v的维数 = 3+每条路多少点+1 len(ctrlpts)# u的维数 = 3+多少条路+1 len(ctrlpts[0])knotvector_v=[]count=0.0for i in range(len(ctrlpts[0])+4):knotvector_v.append(count)if i>1:if i-11:if i-1=len(zpath):rospy.loginfo("len%d",len(zpath))break
'''

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