【CGAL】Region_Growing检测圆柱，保存结果并输出圆柱体参数

本文链接：https://blog.csdn.net/qq_43622114/article/details/139604851

说明

这篇博客以代码为主，使用CGAL中的region growing方法检测圆柱体。将不同的圆柱按不同颜色保存，并输出圆柱体的中心坐标、轴方向以及半径。
region growing的具体思想网上的文章已经有很多，可以参考这个。

代码展示

#include <CGAL/Point_set_3.h>
#include <CGAL/Point_set_3/IO.h>
#include <CGAL/Simple_cartesian.h>
#include <CGAL/Shape_detection/Region_growing/Region_growing.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/property_map.h>
#include <CGAL/Shape_detection/Region_growing/Point_set.h>
#include <boost/iterator/function_output_iterator.hpp>
#include <CGAL/utils.h>
#include <fstream>

// 源文件
#define src_file_path "cylinder1_dense.ply"

// 检测结果分颜色保存
#define result_path "cylinder1_dense_result.ply"

// 参数保存
#define param_path "cylinder1_dense_param.txt"


// Typedefs.
using Kernel = CGAL::Simple_cartesian<double>;
using FT = Kernel::FT;
using Point_3 = Kernel::Point_3;
using Vector_3 = Kernel::Vector_3;
using Point_set = CGAL::Point_set_3<Point_3>;
using Point_map = typename Point_set::Point_map;
//using Normal_map = typename Point_set::Vector_map;
typedef std::pair<Point_3, Vector_3> Point_with_normal;
typedef std::vector<Point_with_normal> Pwn_vector;
using Neighbor_query = CGAL::Shape_detection::Point_set::K_neighbor_query_for_point_set<Point_set>;
using Region_type = CGAL::Shape_detection::Point_set::Least_squares_cylinder_fit_region_for_point_set<Point_set>;
using Region_growing = CGAL::Shape_detection::Region_growing<Neighbor_query, Region_type>;

void detect_and_save(Point_set& point_set, Neighbor_query& neighbor_query, Region_type&