CGAL alphaShape二维点集边界提取

一、算法原理

  二维点集的边界提取。

1、主要函数

头文件

#include <CGAL/Alpha_shape_2.h>

2、参考文献

[1]张鹤,李东升,陈爱军.Alpha-Shapes分段改进算法在三维模拟树枝体积扫描测量中的应用[J].中国测试,2021,47(03):49-58.

二、代码实现

#include <vector>
#include <pcl/io/pcd_io.h>          // PCL读取PCD
#include <pcl/point_types.h>        // PCL点类型

#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>

#include <CGAL/Alpha_shape_2.h>
#include <CGAL/Alpha_shape_vertex_base_2.h>
#include <CGAL/Alpha_shape_face_base_2.h>
#include <CGAL/Delaunay_triangulation_2.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/IO/write_points.h>
#include <CGAL/algorithm.h>



typedef CGAL::Exact_predicates_inexact_constructions_kernel  K;

typedef K::FT                                                FT;
typedef K::Point_2                                           Point;
typedef K::Segment_2                                         Segment;

typedef CGAL::Alpha_shape_vertex_base_2<K>                   Vb;
typedef CGAL::Alpha_shape_face_base_2<K>                     Fb;
typedef CGAL::Triangulation_data_structure_2<Vb, Fb>          Tds;
typedef CGAL::Delaunay_triangulation_2<K, Tds>                Triangulation_2;
typedef CGAL::Alpha_shape_2<Triangulation_2>                 Alpha_shape_2;

typedef Alpha_shape_2::Alpha_shape_edges_iterator            Alpha_shape_edges_iterator;

template <class OutputIterator>
void alpha_edges(const Alpha_shape_2& A, OutputIterator out)
{
	Alpha_shape_edges_iterator it = A.alpha_shape_edges_begin(),
		end = A.alpha_shape_edges_end();
	for (; it != end; ++it)
		*out++ = A.segment(*it);
}


int main()
{
	//-------------------------加载二维PCD点云数据------------------------------
	pcl::PointCloud<pcl::PointXY>::Ptr cloud(new pcl::PointCloud<pcl::PointXY>);

	if (pcl::io::loadPCDFile<pcl::PointXY>("cgal//cloud.pcd", *cloud) == -1)
	{
		PCL_ERROR("Could not read file\n");
		return -1;
	}
	// ------------------------转为CGAL支持的格式------------------------------
	std::vector<Point> points;
	for (size_t i = 0; i < cloud->size(); ++i)
	{
		double px = cloud->points[i].x;
		double py = cloud->points[i].y;
		points.push_back(Point(px, py));
	}

	Alpha_shape_2 A(points.begin(), points.end(),
		FT(10000),
		Alpha_shape_2::GENERAL);

	std::vector<Segment> segments;
	alpha_edges(A, std::back_inserter(segments));

	std::cout << "Alpha Shape computed" << std::endl;
	std::cout << segments.size() << " alpha shape edges" << std::endl;
	std::cout << "Optimal alpha: " << *A.find_optimal_alpha(1) << std::endl;

	// -----------------------------保存点云-------------------------------
	const std::string output_filename("cgal//CSite_random.xyz");
	if (!CGAL::IO::write_points(output_filename, segments, CGAL::parameters::stream_precision(17)))
		return -1;
	

	return 0;
}

三、结果展示