\( \newcommand{\E}{\mathrm{E}} \) \( \newcommand{\A}{\mathrm{A}} \) \( \newcommand{\R}{\mathrm{R}} \) \( \newcommand{\N}{\mathrm{N}} \) \( \newcommand{\Q}{\mathrm{Q}} \) \( \newcommand{\Z}{\mathrm{Z}} \) \( \def\ccSum #1#2#3{ \sum_{#1}^{#2}{#3} } \def\ccProd #1#2#3{ \sum_{#1}^{#2}{#3} }\)
CGAL 4.14 - Point Set Shape Detection
Point_set_shape_detection_3/shape_detection_basic.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>
// Type declarations
typedef std::pair<Kernel::Point_3, Kernel::Vector_3> Point_with_normal;
typedef std::vector<Point_with_normal> Pwn_vector;
// In Shape_detection_traits the basic types, i.e., Point and Vector types
// as well as iterator type and property maps, are defined.
<Kernel, Pwn_vector, Point_map, Normal_map> Traits;
// This program both works for RANSAC and Region Growing
template <typename ShapeDetection>
int run(const char* filename)
{
// Points with normals.
Pwn_vector points;
// Loads point set from a file.
// read_xyz_points_and_normals takes an OutputIterator for storing the points
// and a property map to store the normal vector with each point.
std::ifstream stream(filename);
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;
}
// Instantiates shape detection engine.
ShapeDetection shape_detection;
// Provides the input data.
shape_detection.set_input(points);
// Registers planar shapes via template method.
shape_detection.template add_shape_factory<Plane>();
// Detects registered shapes with default parameters.
shape_detection.detect();
// Prints number of detected shapes.
std::cout << shape_detection.shapes().end() - shape_detection.shapes().begin() << " shapes detected." << std::endl;
return EXIT_SUCCESS;
}
int main (int argc, char** argv)
{
if (argc > 1 && std::string(argv[1]) == "-r")
{
std::cout << "Efficient RANSAC" << std::endl;
return run<Efficient_ransac> ((argc > 2) ? argv[2] : "data/cube.pwn");
}
std::cout << "Region Growing" << std::endl;
return run<Region_growing> ((argc > 1) ? argv[1] : "data/cube.pwn");
}