16.13. CGAL tools¶
ASP distributes in the bin
directory the following CGAL tools for
manipulating meshes in .ply format, which are produced with the
multi_stereo
(Section 16.39) and voxblox_mesh
(Section 16.68) tools:
- rm_connected_components
- smoothe_mesh
- fill_holes
- simplify_mesh
These tools can be built and used independently of ASP. See the source code and build instructions.
16.13.1. Examples¶
Remove small connected components from the mesh:
num_min_faces_in_component=100
num_components_to_keep=10
rm_connected_components \
$num_min_faces_in_component \
$num_components_to_keep \
<input_mesh.ply> <output_mesh.ply>
Mesh smoothing:
num_iter=1; smoothing_time=5e-5; smoothe_boundary=1
smoothe_mesh \
$num_iter $smoothing_time $smoothe_boundary \
<input_mesh.ply> <output_mesh.ply>
Hole-filling:
max_hole_diameter=0.8
max_num_hole_edges=100
fill_holes \
$max_hole_diameter $max_num_hole_edges \
<input_mesh.ply> <output_mesh.ply>
Mesh simplification:
edge_keep_ratio=0.2
simplify_mesh $edge_keep_ratio \
<input_mesh.ply> <output_mesh.ply>
It is very strongly recommended to first run these tools on small meshes to get a feel for how they work. Meshlab can be used to inspect the results.