三维图形知识分享-泊松(Poisson)重建详细源码

泊松重建 (Poisson reconstruction) 是一种流行的点云表面重建算法，它通过求解一个泊松问题来构建点云数据的表面。

很多开源库都实现了经典的泊松重建算法，PCL点云处理库、CGAL等等有名的三维几何算法库，在实际使用中，CGAL库的实现泊松重建比较易懂，下面是一个完整的例子。 

#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Polyhedron_3.h>
#include <CGAL/Surface_mesh_default_triangulation_3.h>
#include <CGAL/make_surface_mesh.h>
#include <CGAL/Implicit_surface_3.h>
#include <CGAL/IO/facets_in_complex_2_to_triangle_mesh.h>
#include <CGAL/Poisson_reconstruction_function.h>
#include <CGAL/property_map.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/compute_average_spacing.h>
#include <CGAL/Polygon_mesh_processing/distance.h>
#include <boost/iterator/transform_iterator.hpp>
#include <vector>
#include <fstream>
// Types
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::FT FT;
typedef Kernel::Point_3 Point;
typedef Kernel::Vector_3 Vector;
typedef std::pair<Point, Vector> Point_with_normal;
typedef CGAL::First_of_pair_property_map<Point_with_normal> Point_map;
typedef CGAL::Second_of_pair_property_map<Point_with_normal> Normal_map;
typedef Kernel::Sphere_3 Sphere;
typedef std::vector<Point_with_normal> PointList;
typedef CGAL::Polyhedron_3<Kernel> Polyhedron;
typedef CGAL::Poisson_reconstruction_function<Kernel> Poisson_reconstruction_function;
typedef CGAL::Surface_mesh_default_triangulation_3 STr;
typedef CGAL::Surface_mesh_complex_2_in_triangulation_3<STr> C2t3;
typedef CGAL::Implicit_surface_3<Kernel, Poisson_reconstruction_function> Surface_3;
int main(void)
{
    // Poisson options
    FT sm_angle = 20.0; // Min triangle angle in degrees.
    FT sm_radius = 30; // Max triangle size w.r.t. point set average spacing.
    FT sm_distance = 0.375; // Surface Approximation error w.r.t. point set average spacing.
    // Reads the point set file in points[].
    // Note: read_points() requires an iterator over points
    // + property maps to access each point's position and normal.
    PointList points;
    if(!CGAL::IO::read_points(CGAL::data_file_path("points_3/kitten.xyz"), std::back_inserter(points),
                          CGAL::parameters::point_map(Point_map())
                                           .normal_map (Normal_map())))
    {
      std::cerr << "Error: cannot read file input file!" << std::endl;
      return EXIT_FAILURE;
    }
    // Creates implicit function from the read points using the default solver.
    // Note: this method requires an iterator over points
    // + property maps to access each point's position and normal.
    Poisson_reconstruction_function function(points.begin(), points.end(), Point_map(), Normal_map());
    // Computes the Poisson indicator function f()
    // at each vertex of the triangulation.
    if ( ! function.compute_implicit_function() )
      return EXIT_FAILURE;
    // Computes average spacing
    FT average_spacing = CGAL::compute_average_spacing<CGAL::Sequential_tag>
      (points, 6 /* knn = 1 ring */,
       CGAL::parameters::point_map (Point_map()));
    // Gets one point inside the implicit surface
    // and computes implicit function bounding sphere radius.
    Point inner_point = function.get_inner_point();
    Sphere bsphere = function.bounding_sphere();
    FT radius = std::sqrt(bsphere.squared_radius());
    // Defines the implicit surface: requires defining a
    // conservative bounding sphere centered at inner point.
    FT sm_sphere_radius = 5.0 * radius;
    FT sm_dichotomy_error = sm_distance*average_spacing/1000.0; // Dichotomy error must be << sm_distance
    Surface_3 surface(function,
                      Sphere(inner_point,sm_sphere_radius*sm_sphere_radius),
                      sm_dichotomy_error/sm_sphere_radius);
    // Defines surface mesh generation criteria
    CGAL::Surface_mesh_default_criteria_3<STr> criteria(sm_angle,  // Min triangle angle (degrees)
                                                        sm_radius*average_spacing,  // Max triangle size
                                                        sm_distance*average_spacing); // Approximation error
    // Generates surface mesh with manifold option
    STr tr; // 3D Delaunay triangulation for surface mesh generation
    C2t3 c2t3(tr); // 2D complex in 3D Delaunay triangulation
    CGAL::make_surface_mesh(c2t3,                                 // reconstructed mesh
                            surface,                              // implicit surface
                            criteria,                             // meshing criteria
                            CGAL::Manifold_with_boundary_tag());  // require manifold mesh
    if(tr.number_of_vertices() == 0)
      return EXIT_FAILURE;
    // saves reconstructed surface mesh
    std::ofstream out("kitten_poisson-20-30-0.375.off");
    Polyhedron output_mesh;
    CGAL::facets_in_complex_2_to_triangle_mesh(c2t3, output_mesh);
    out << output_mesh;
    // computes the approximation error of the reconstruction
    double max_dist =
      CGAL::Polygon_mesh_processing::approximate_max_distance_to_point_set
      (output_mesh,
       CGAL::make_range (boost::make_transform_iterator
                         (points.begin(), CGAL::Property_map_to_unary_function<Point_map>()),
                         boost::make_transform_iterator
                         (points.end(), CGAL::Property_map_to_unary_function<Point_map>())),
       4000);
    std::cout << "Max distance to point_set: " << max_dist << std::endl;
    return EXIT_SUCCESS;
}

 下面是另一个简化版实现