CGAL学习记录-点云上采样

CGAL学习记录——点云上采样

效果展示

原始点云

上采样后点

cloud point_size
1 5323
2 42584

有上图可知,点云上采样效果还可以。

代码

#include <CGAL/Simple_cartesian.h>
#include <CGAL/edge_aware_upsample_point_set.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/IO/write_points.h>
#include <vector>
#include <fstream>
#include <CGAL/draw_point_set_3.h>
// types
typedef CGAL::Simple_cartesian<double> Kernel;
typedef Kernel::Point_3 Point;
typedef Kernel::Vector_3 Vector;
typedef std::pair<Point, Vector> PointVectorPair;
typedef CGAL::Parallel_if_available_tag Concurrency_tag;


int main(int argc, char* argv[])
{
    std::vector<PointVectorPair> points;
    if (!CGAL::IO::read_points(argv[1],
        std::back_inserter(points),
        CGAL::parameters::point_map(CGAL::First_of_pair_property_map<PointVectorPair>())
        .normal_map(CGAL::Second_of_pair_property_map<PointVectorPair>())))
    {
        return EXIT_FAILURE;
    }


    //参数设置
    const double sharpness_angle = 25;   // control sharpness of the result.
    const double edge_sensitivity = 0;    // higher values will sample more points near the edges
    const double neighbor_radius = 0.25;  // initial size of neighborhood.
    const std::size_t number_of_output_points = points.size() * 8;


    CGAL::edge_aware_upsample_point_set<Concurrency_tag>(
        points,
        std::back_inserter(points),
        CGAL::parameters::point_map(CGAL::First_of_pair_property_map<PointVectorPair>()).
        normal_map(CGAL::Second_of_pair_property_map<PointVectorPair>()).
        sharpness_angle(sharpness_angle).
        edge_sensitivity(edge_sensitivity).
        neighbor_radius(neighbor_radius).
        number_of_output_points(number_of_output_points));
    
    //保存点云
    if (!CGAL::IO::write_points(argv[2], points,
        CGAL::parameters::point_map(CGAL::First_of_pair_property_map<PointVectorPair>())
        .normal_map(CGAL::Second_of_pair_property_map<PointVectorPair>())
        .stream_precision(17)))
        return EXIT_FAILURE;


    return EXIT_SUCCESS;
}

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