1.点云重建
虽然Delaunay三角剖分算法可以实现网格曲面重建,但是其应用主要在二维剖分,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,不仅基于最大最小角判断的对角线交换准则不在成立,而且基于外接圆判据的Delaunay三角化也不能保证网格质量。VTKSurfaceReconstructionFilter则实现了一种隐式曲面重建方法,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格。利用人脸点云数据进行人脸网格曲面重建实例如下:
- #include <vtkAutoInit.h>
- VTK_MODULE_INIT(vtkRenderingOpenGL);
- 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("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,网格越密集,一般采用默认值0.05.
该例的输出结果如下图所示:
原文地址:
http://blog.csdn.net/shenziheng1/article/details/54880915
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