三维模型孔洞修补
·实现思路
查找孔洞
观察孔洞边界，不难发现，若是组成孔洞的边，那么一条边只对应一个三角面片，通过这个特性可以获得组成孔洞的所有边。
新增三角形补洞算法
1 首先选取组成孔洞的边中的相邻两条，计算夹角。
2 若夹角在0-90度，那么直接将这两条边的端点相连组成新的三角形，为了保证孔洞的完整性，新三角形新加的边作为孔洞的边，而另外两条边从孔洞中删去。
3 若夹角在90-180度之间，那么连接夹角对应的两条边的端点构建成新的三角形，计算新生成三角形的外心，用两条边的端点以及外心组成两个新的三角形，将原来两条边删去，将外心和原来两条边的端点所构成的边加入到孔洞的边中。
4 若夹角大于180度，则不进行处理，继续寻找另外相邻边的夹角。
点连补洞算法
在获取孔洞边界的基础上，首先找到一个孔洞边界的顶点，然后将该顶点与
他间隔两个点的顶点相连，生成新的边以及三角形，将三角形的新新边加入到孔洞边界中，删除三角形的其余两条边，依此类推，直到孔洞修补完整，结束。
基于Liepa的补洞算法
1 首先根据找到组成孔洞的顶点所对应的最小角度。
2 通过角度对孔洞边进行排序。
3 连接最小角度对应的两条边生成当前边，并将新生成的三角形加入到三角形集合中，并记录当前三角形。
4 获取当前边的候选点，也就是以当前边的起点为终点的边的另外一个点以及以当前边的终点为起点的边的另外的一个点。
5 将当前边与候选点构成三角形，计算该三角形与当前三角形之间的二面角以及计算该三角形的面积，选取二面角角度大的候选点（在二面角角度相等的情况下，选择组成面积大的候选点），更新当前边以及当前三角形，继续制行第4个步骤，从孔洞边界中删除之前的当前边。当孔洞边界的大小小于等于2时退出循环。
· 实现代码
//孔洞修补
void HoleRepair::Repaithole(vector active)
{
MyPoint mycirclepoint; //三角形外心
CEdge Newedge,Newedge1;
CTriangles a;
vectorClist;
vector orginsurface1;//用于计算三角形外心的面
Vector3 vector3,circlepoint;
int i = 0;
double angle;//两个向量之间的夹角
while (!active.empty())
{
if (active.size() <= 2)
{
break;
}
MyPoint temp;
//CEdge e1(active[0].endNode, active[0].startNode);
active[0].ToString();
active[1].ToString();
Clist.push_back(active[0]);
Clist.push_back(active[1]);
angle=GetAngleRear(active[0], active[1]);//计算表头的边和它的下一条边的夹角
cout << "角度之前： " << angle << endl;
if (angle > 180)
{
angle = 360 - angle;
}
cout <<"角度之后： " <<angle << endl;
if (angle < 90 && angle>0)
{
std::cout << "0-90" << endl;
Newedge.startNode = active[0].startNode;
Newedge.endNode = active[1].endNode;
a.p0= active[0].startNode;
a.p1= active[0].endNode;
a.p2= active[1].endNode;
a.ToString();
Triangleslist.push_back(a);
if (active.size() >= 3)
{
active.erase(active.begin());
active.erase(active.begin());
active.insert(active.begin(), Newedge);
}
else break;
//std::cout << "活动边大小 :" <<active.size() << std::endl;
}
else if (angle >= 90 && angle < 180)
{
//当前边和下一条边生成一个面
std::cout << "90-180" << endl;
vector3.x = active[0].startNode.x;
vector3.y = active[0].startNode.y;
vector3.z = active[0].startNode.z;
orginsurface1.push_back(vector3);
vector3.x = active[0].endNode.x;
vector3.y = active[0].endNode.y;
vector3.z = active[0].endNode.z;
orginsurface1.push_back(vector3);
vector3.x = active[1].endNode.x;
vector3.y = active[1].endNode.y;
vector3.z = active[1].endNode.z;
orginsurface1.push_back(vector3);
//计算外心
circlepoint = solveCenterPointOfCircle(orginsurface1, vector3);
orginsurface1.clear();
cout << "外心: " << circlepoint.x << " " << circlepoint.y << " " << circlepoint.z << endl;
mycirclepoint.x = circlepoint.x;
mycirclepoint.y = circlepoint.y;
mycirclepoint.z= circlepoint.z;
//连接当前活动边起点和外心bbb
Newedge.startNode = active[0].startNode;
Newedge.endNode = mycirclepoint;
//连接外心和下一条活动边的终点
Newedge1.startNode = mycirclepoint;
Newedge1.endNode = active[1].endNode;
//将新生成的两个面加入面表中
a.p0 = active[0].startNode;
a.p1 = active[0].endNode;
a.p2 = mycirclepoint;
a.ToString();
Triangleslist.push_back(a);
a.p0 = active[1].startNode;
a.p1 = active[1].endNode;
a.p2 = mycirclepoint;
a.ToString();
Triangleslist.push_back(a);
//删除活动边中表头的两条边，向活动边新增两条新边
if (active.size() >= 2) {
active.erase(active.begin());
active.erase(active.begin());
active.push_back( Newedge);
active.insert(active.begin(), Newedge1);
}
else break;
//std::cout << "活动边大小 :" << active.size() << std::endl;
}
else if (angle < 360 && angle >= 180)
{
std::cout << "180-360" << endl;
if (active.size() > 0)
{
active.push_back(active[0]);
active.erase(active.begin());
}
else break;
//std::cout <<"活动边大小 :"<< active.size() << std::endl;
}
if (i >60)
break;
i++;
}
int i1 = 0;
for (auto it = sortEdge.begin();it != sortEdge.end();it++)
{
pcl::PointXYZ p0(it->startNode.x, it->startNode.y, it->startNode.z);
pcl::PointXYZ p1(it->endNode.x, it->endNode.y, it->endNode.z);
viewer->addLine(p0, p1, 1, 1, 1, std::to_string(i1));
i1++;
}
cout <<"最后栈里面的大小：" <<active.size() << endl;
cout << "最后i的大小：" << i << endl;
for (auto it = active.begin();it != active.end();it++)
{
pcl::PointXYZ p0(it->startNode.x, it->startNode.y, it->startNode.z);
pcl::PointXYZ p1(it->endNode.x, it->endNode.y, it->endNode.z);
viewer->addLine(p0, p1, 1, 0, 0, std::to_string(i1));
i1++;
}
for (auto it = Clist.begin();it != Clist.end();it++)
{
pcl::PointXYZ p0(it->startNode.x, it->startNode.y, it->startNode.z);
pcl::PointXYZ p1(it->endNode.x, it->endNode.y, it->endNode.z);
viewer->addLine(p0, p1, 0, 1, 0, std::to_string(i1));
i1++;
}
/*for (auto it = Triangleslist.begin();it != Triangleslist.end();it++)
{
pcl::PointXYZ p0(it->edge1.startNode.x, it->edge1.startNode.y, it->edge1.startNode.z);
pcl::PointXYZ p1(it->edge2.startNode.x, it->edge2.startNode.y, it->edge2.startNode.z);
viewer->addLine(p0,p1, 1, 0, 0, std::to_string(i1));
i1++;
pcl::PointXYZ p2(it->edge1.startNode.x, it->edge1.startNode.y, it->edge1.startNode.z);
pcl::PointXYZ p3(it->edge3.startNode.x, it->edge3.startNode.y, it->edge3.startNode.z);
viewer->addLine(p2, p3, 0, 1, 0, std::to_string(i1));
i1++;
pcl::PointXYZ p4(it->edge3.startNode.x, it->edge3.startNode.y, it->edge3.startNode.z);
pcl::PointXYZ p5(it->edge2.startNode.x, it->edge2.startNode.y, it->edge2.startNode.z);
viewer->addLine(p4, p5, 0, 0, 1, std::to_string(i1));
i1++;
}*/
cout << "面： "<<Triangleslist.size() << endl;
}
// 直接连接
void HoleRepair::RepairLine()
{
vectorlist;
MyPoint point = sortEdge[0].startNode;
for (int i = 1;i < sortEdge.size();i++)
{
if (sortEdge[i].endNode == point||sortEdge[i].startNode==point)
{
break;
}
else
{
CEdge e1(point, sortEdge[i].endNode);
//CTriangles c1;
CTriangles a;
a.p0 = point;
a.p1 = sortEdge[i].endNode;
a.p2 = sortEdge[i].startNode;
Triangleslist.push_back(a);
list.push_back(e1);
}
}
int i1 = 0;
for (auto it = sortEdge.begin();it != sortEdge.end();it++)
{
pcl::PointXYZ p0(it->startNode.x, it->startNode.y, it->startNode.z);
pcl::PointXYZ p1(it->endNode.x, it->endNode.y, it->endNode.z);
viewer->addLine(p0, p1, 1, 1, 1, std::to_string(i1));
i1++;
}
for (auto it = list.begin();it != list.end();it++)
{
pcl::PointXYZ p0(it->startNode.x, it->startNode.y, it->startNode.z);
pcl::PointXYZ p1(it->endNode.x, it->endNode.y, it->endNode.z);
viewer->addLine(p0, p1, 1, 1, 1, std::to_string(i1));
i1++;
}
}
void HoleRepair::HoleReoairLiepa()
{
// 获取最小角度所构成的边
cout << “补洞算法：” << endl;
// 获取所有边
vector<CEdge>active ;
vector<CEdge>listResult;
double a=360;
MyPoint my;
CEdge c1;
CEdge c2;
CEdge cc;
double angle = 0;
for (int i = 0;i < sortEdge.size()-1;i++)
{
c1 = sortEdge[i];
c2 = sortEdge[i + 1];
double A=GetAngleRear(c1,c2);
if (A < a)
{
cc = sortEdge[i];
my = c1.startNode;
angle = A;
a = A;
}
}
cout << "最小角" << angle <<endl;
active.push_back(cc);
if (sortEdge.size() > 0)
{
my = cc.endNode;
MyPoint point = cc.startNode;
while (!(my == point))
{
for (int i = 0;i < sortEdge.size(); i++)
{
if ((sortEdge[i].startNode == my) && ((!(sortEdge[i].startNode == cc.startNode)) && (!(sortEdge[i].endNode == cc.endNode))))
{
//cout << "点 ： " << my.x << " "<<my.y<<" "<<my.z<<endl;
active.push_back(sortEdge[i]);
cc = sortEdge[i];
my = cc.endNode;
break;
}
}
}
}
cout << "获取有序边的角度: " << endl;
for (int i= 0;i < active.size();i++)
{
CEdge c1 = active[i];
//c1.ToString();
}
if (active.size() < 2)
return;
// 当前边
CEdge currentEdge(active[0].startNode,active[1].endNode);
listResult.push_back(currentEdge);
// 当前面
CTriangles ct(active[0].startNode, active[0].endNode, active[1].endNode);
Triangleslist.push_back(ct);
// 删除最小角的边
active.erase(active.begin());
active.erase(active.begin());
int i = 0;
do
{
// 获取候选点
GettingCandidatePoints(currentEdge, active);
// 计算二面角
CTriangles ctFront(currentEdge.startNode, currentEdge.endNode, frontPoint);
vector<double>list1 = getNormal(currentEdge.startNode, currentEdge.endNode, frontPoint);
CTriangles ctRear(rearPoint,currentEdge.startNode, currentEdge.endNode);
vector<double>list2= getNormal(rearPoint, currentEdge.startNode, currentEdge.endNode);
vector<double>list3 = getNormal(ct.p0, ct.p1, ct.p2);
double A = GetAngle(ctFront, ct);
double B = GetAngle(ctRear, ct);
if (list1.size() < 3 || list2.size() < 3 || list3.size() < 3)
break;
if (list1[1] * list3[1]>0)
{
A = 360;
}
if (list2[1] * list3[1] > 0)
{
B = 360;
}
// 种子法向量
if (A > B)
{
currentEdge.ToString();
cout << "A: "<<A << endl;
currentEdge.startNode = frontPoint;
currentEdge.endNode = currentEdge.endNode;
ct = ctFront;
cout << "生成后的边： " << endl;
currentEdge.ToString();
Triangleslist.push_back(ctFront);
}
else if (A < B)
{
currentEdge.ToString();
cout << "B: "<<B << endl;
MyPoint pp = currentEdge.startNode;
currentEdge.startNode = pp;
currentEdge.endNode = rearPoint;
ct = ctRear;
cout << "生成后的边： " << endl;
Triangleslist.push_back(ctRear);
currentEdge.ToString();
}
else
{
// 若二面角相等则计算面积
double areaFront= GetArea(ctFront);
double areaRear= GetArea(ctRear);
if (areaFront > areaRear)
{
cout << "A: " << A << endl;
currentEdge.startNode = frontPoint;
currentEdge.endNode = currentEdge.endNode;
ct = ctFront;
cout << "生成后的边： " << endl;
Triangleslist.push_back(ctFront);
currentEdge.ToString();
}
else
{
currentEdge.ToString();
cout << "B: " << B << endl;
MyPoint pp = currentEdge.startNode;
currentEdge.startNode = pp;
currentEdge.endNode = rearPoint;
ct = ctRear;
cout << "生成后的边： " << endl;
currentEdge.ToString();
Triangleslist.push_back(ctRear);
}
}
listResult.push_back(currentEdge);
// 删除头的那条边
if (active.size() > 0)
{
active.erase(active.begin());
active.insert(active.begin(), currentEdge);
}
else
{
break;
}
} while (active.size() > 2);
/*CTriangles ctlast(active[0].startNode, active[0].endNode, active[1].endNode);
Triangleslist.push_back(ctlast);*/
int i1 = 0;
for (auto it = sortEdge.begin();it != sortEdge.end();it++)
{
pcl::PointXYZ p0(it->startNode.x, it->startNode.y, it->startNode.z);
pcl::PointXYZ p1(it->endNode.x, it->endNode.y, it->endNode.z);
viewer->addLine(p0, p1, 1, 0, 0, std::to_string(i1));
i1++;
}
cout << "生成多少条边数: " << listResult.size() << endl;
for (auto it = listResult.begin();it != listResult.end();it++)
{
pcl::PointXYZ p0(it->startNode.x, it->startNode.y, it->startNode.z);
pcl::PointXYZ p1(it->endNode.x, it->endNode.y, it->endNode.z);
viewer->addLine(p0, p1, 0, 1, 0, std::to_string(i1));
i1++;
}
}
· 运行结果
新增三角片算法
直接连算法
基于Liepa算法
1万+
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