1、点云重建
虽然Delaunay三角部分算法可以实现网格曲面重建,但是其应用主要在二维部分,在三维空间网格生成中遇到了问题。因为在三维点云曲面重建中,Delaunay条件不在满足,不仅基于最大最小判断的对角线准则不成立,而且基于外接圆判据的Delaunay三角化也不能保证网格质量。VTKSurfaceReconstructionFilter则实现一种隐式曲面重建的方法,即将曲面看做一个符号距离函数的等值面,曲面内外的距离值得符号相反,而零等值面即为所求的曲面。该方法需要对点云数据进行网格划分,然后估算每个点的切平面和方向,并以每个点与最近的切平面距离来近似表面距离。这样即可以得到一个符号距离的体数据。这样,我们就可以利用VTKContourFilter来提取零等值面即可得到相应的网络。
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkInteractionStyle);
#include <vtkSmartPointer.h>
#include <vtkPolyDataReader.h>
#include <vtkPolyData.h>
#include <vtkSurfaceReconstructionFilter.h>
#include <vtkContourFilter.h>
#include <vtkVertexGlyphFilter.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkRenderer.h>
#include <vtkCamera.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkProperty.h>
int main()
{
vtkSmartPointer<vtkPolyDataReader> reader =
vtkSmartPointer<vtkPolyDataReader>::New();
reader->SetFileName("data/fran_cut.vtk");
reader->Update();
vtkSmartPointer<vtkPolyData> points =
vtkSmartPointer<vtkPolyData>::New();
points->SetPoints(reader->GetOutput()->GetPoints()); //获得网格模型中的几何数据:点集
vtkSmartPointer<vtkSurfaceReconstructionFilter> surf =
vtkSmartPointer<vtkSurfaceReconstructionFilter>::New();
surf->SetInputData(points);
surf->SetNeighborhoodSize(20);
surf->SetSampleSpacing(0.005);
surf->Update();
vtkSmartPointer<vtkContourFilter> contour =
vtkSmartPointer<vtkContourFilter>::New();
contour->SetInputConnection(surf->GetOutputPort());
contour->SetValue(0, 0.0);
contour->Update();
//
vtkSmartPointer <vtkVertexGlyphFilter> vertexGlyphFilter =
vtkSmartPointer<vtkVertexGlyphFilter>::New();
vertexGlyphFilter->AddInputData(points);
vertexGlyphFilter->Update();
vtkSmartPointer<vtkPolyDataMapper> pointMapper =
vtkSmartPointer<vtkPolyDataMapper>::New();
pointMapper->SetInputData(vertexGlyphFilter->GetOutput());
pointMapper->ScalarVisibilityOff();
vtkSmartPointer<vtkActor> pointActor =
vtkSmartPointer<vtkActor>::New();
pointActor->SetMapper(pointMapper);
pointActor->GetProperty()->SetColor(1, 0, 0);
pointActor->GetProperty()->SetPointSize(4);
vtkSmartPointer<vtkPolyDataMapper> contourMapper =
vtkSmartPointer<vtkPolyDataMapper>::New();
contourMapper->SetInputData(contour->GetOutput());
vtkSmartPointer<vtkActor> contourActor =
vtkSmartPointer<vtkActor>::New();
contourActor->SetMapper(contourMapper);
///
double pointView[4] = { 0, 0, 0.5, 1 };
double contourView[4] = { 0.5, 0, 1, 1 };
vtkSmartPointer<vtkRenderer> pointRender =
vtkSmartPointer<vtkRenderer>::New();
pointRender->AddActor(pointActor);
pointRender->SetViewport(pointView);
pointRender->SetBackground(1, 1, 1);
vtkSmartPointer<vtkRenderer> contourRender =
vtkSmartPointer<vtkRenderer>::New();
contourRender->AddActor(contourActor);
contourRender->SetViewport(contourView);
contourRender->SetBackground(0, 1, 0);
pointRender->GetActiveCamera()->SetPosition(0, -1, 0);
pointRender->GetActiveCamera()->SetFocalPoint(0, 0, 0);
pointRender->GetActiveCamera()->SetViewUp(0, 0, 1);
pointRender->GetActiveCamera()->Azimuth(30);
pointRender->GetActiveCamera()->Elevation(30);
pointRender->ResetCamera();
contourRender->SetActiveCamera(pointRender->GetActiveCamera());
vtkSmartPointer<vtkRenderWindow> rw =
vtkSmartPointer<vtkRenderWindow>::New();
rw->AddRenderer(pointRender);
rw->AddRenderer(contourRender);
rw->SetSize(640, 320);
rw->SetWindowName("3D Surface Reconstruction ");
rw->Render();
vtkSmartPointer<vtkRenderWindowInteractor> rwi =
vtkSmartPointer<vtkRenderWindowInteractor>::New();
rwi->SetRenderWindow(rw);
rwi->Initialize();
rwi->Start();
return 0;
}
使用VTKsurfaceReconstructionFilter时,主要涉及两个参数,分别使用函数SetNeighborhoodSize()和SetSampleSpacing()进行设置。
SetNeighborhoodSize:设置邻域点的个数;而这些邻域点则用来估计每个点的局部切平面。邻域点的个数默认为20,能够处理大多数重建问题。个数设置越多,计算消耗时间越长。当点云分布严重不均匀情况下,可以考虑增加该值。
SetSampleSpacing:用于设置划分网格的网格间距,间距与小,网格月密集,一般采用默认值0.05.