\( \newcommand{\E}{\mathrm{E}} \) \( \newcommand{\A}{\mathrm{A}} \) \( \newcommand{\R}{\mathrm{R}} \) \( \newcommand{\N}{\mathrm{N}} \) \( \newcommand{\Q}{\mathrm{Q}} \) \( \newcommand{\Z}{\mathrm{Z}} \) \( \def\ccSum #1#2#3{ \sum_{#1}^{#2}{#3} } \def\ccProd #1#2#3{ \sum_{#1}^{#2}{#3} }\)
CGAL 4.12.2 - Point Set Shape Detection
Point_set_shape_detection_3/plane_regularization.cpp
#if defined (_MSC_VER) && !defined (_WIN64)
#pragma warning(disable:4244) // boost::number_distance::distance()
// converts 64 to 32 bits integers
#endif
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/IO/read_xyz_points.h>
#include <CGAL/Point_with_normal_3.h>
#include <CGAL/property_map.h>
#include <iostream>
#include <fstream>
typedef std::pair<Kernel::Point_3, Kernel::Vector_3> Point_with_normal;
typedef std::vector<Point_with_normal> Pwn_vector;
<Kernel, Pwn_vector, Point_map, Normal_map> Traits;
int main(int argc, char** argv)
{
Pwn_vector points;
std::ifstream stream(argc > 1 ? argv[1] : "data/cube.pwn");
if (!stream ||
std::back_inserter(points),
CGAL::parameters::point_map(Point_map()).
normal_map(Normal_map())))
{
std::cerr << "Error: cannot read file cube.pwn" << std::endl;
return EXIT_FAILURE;
}
// Call RANSAC shape detection with planes
Region_growing region_growing;
region_growing.set_input(points);
region_growing.add_shape_factory<Plane>();
region_growing.detect();
Region_growing::Plane_range planes = region_growing.planes();
// Regularize detected planes
Point_map(),
planes,
true, // Regularize parallelism
true, // Regularize orthogonality
false, // Do not regularize coplanarity
true, // Regularize Z-symmetry (default)
10); // 10 degrees of tolerance for parallelism/orthogonality
return EXIT_SUCCESS;
}