CGAL 点云体素滤波

一、概述

  每个体素中选取一个点代替体素内所有的点。

1、主要函数

头文件

#include <CGAL/grid_simplify_point_set.h> // 体素滤波

函数

PointRange::iterator CGAL::grid_simplify_point_set  ( PointRange &  points,  
  double  epsilon,  
  const NamedParameters &  np = parameters::default_values()  
 )  

二、代码实现

1、方式一

#include <fstream>
#include <cstdlib>
#include <vector>
#include <CGAL/Point_set_3.h>
#include <CGAL/Point_set_3/IO.h>
#include <CGAL/grid_simplify_point_set.h> // 体素滤波

#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
// types
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::Point_3 Point_3;


int main(int argc, char* argv[])
{
    // ---------------------------读取点云--------------------------------
    CGAL::Point_set_3<Point_3> points;

    std::string fname = CGAL::data_file_path("cgal//kitten.xyz");
    std::ifstream stream(fname, std::ios_base::binary);
    if (!stream)
    {
        std::cerr << "Error: cannot read file " << fname << std::endl;
        return -1;
    }

    stream >> points;

    if (points.empty())
    {
        return -1;
    }    
    std::cout << "Read " << points.size() << " point(s)" << std::endl;

    // ---------------------------体素滤波-----------------------------
	auto gsim_it = CGAL::grid_simplify_point_set(points, 0.02);
	points.remove(gsim_it, points.end());

	std::cout << points.number_of_removed_points()
		<< " point(s) removed after simplification." << std::endl;

	points.collect_garbage();


    return 0;
}

2、方式二

#include <vector>
#include <CGAL/IO/read_points.h>
#include <CGAL/IO/write_points.h>
#include <CGAL/property_map.h>
#include <CGAL/grid_simplify_point_set.h> // 体素滤波
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
// types
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;

int main(int argc, char* argv[])
{
	// ---------------------------------加载点云--------------------------------------
	std::vector<Kernel::Point_3> points;
	if (CGAL::IO::read_points("cgal//fin90_with_PCA_normals.xyz", std::back_inserter(points)) == -1)
	{
		std::cerr << "Error: cannot read file" << std::endl;
		return -1;
	}

	std::cout << "从文件中读取" << points.size() << "个点。" << std::endl;
	// ------------------------------体素滤波（返回索引）-----------------------------
	std::vector<std::size_t> indices(points.size());
	for (std::size_t i = 0; i < points.size(); ++i)
	{
		indices[i] = i;
	}

	double cell_size = 0.05; // 格网大小
	auto end = CGAL::grid_simplify_point_set(indices, cell_size, 
		CGAL::parameters::point_map(CGAL::make_property_map(points)));
	std::size_t k = end - indices.begin();
	// 根据索引获取滤波后的点
	std::vector<Kernel::Point_3> out_points(k);

	for (size_t i = 0; i < k; ++i)
	{
		out_points[i] = points[indices[i]];

	}
	std::cout << "滤波后点的个数为：" << out_points.size() << std::endl;
	// ----------------------------------保存结果--------------------------------
	CGAL::IO::write_points("cgal//voxel.xyz", out_points, CGAL::parameters::stream_precision(6));

	return 0;
}

3、方式三

#include <vector>
#include <CGAL/IO/read_points.h>
#include <CGAL/IO/write_points.h>
#include <CGAL/property_map.h>
#include <CGAL/grid_simplify_point_set.h> // 体素滤波
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
// types
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;

int main(int argc, char* argv[])
{
	// ------------------------------加载点云---------------------------------
	std::vector<Kernel::Point_3> points;
	if (CGAL::IO::read_points("cgal//CSite.xyz", std::back_inserter(points)) == -1)
	{
		std::cerr << "Error: cannot read file" << std::endl;
		return -1;
	}

	std::cout << "从文件中读取" << points.size() << "个点。" << std::endl;
	double gridSize = 0.2; // 体素大小
	// ------------------------------体素滤波-------------------------------
	points.erase(CGAL::grid_simplify_point_set(points, gridSize), points.end());
	std::cout << "采样后的点：" << points.size() << std::endl;
	// ------------------------------保存结果-------------------------------
	CGAL::IO::write_points("cgal//CSite1_voxel.xyz", points, CGAL::parameters::stream_precision(6));

	return 0;
}

三、结果展示

1、滤波前

2、滤波后