#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 <CGAL/Shape_detection_3.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;
Pwn_vector, Point_map, Normal_map> Traits;
int main()
{
Pwn_vector points;
std::ifstream stream("data/cube.pwn");
if (!stream ||
std::back_inserter(points),
Point_map(),
Normal_map()))
{
std::cerr << "Error: cannot read file cube.pwn" << std::endl;
return EXIT_FAILURE;
}
std::cout << points.size() << " points" << std::endl;
Efficient_ransac ransac;
ransac.set_input(points);
ransac.add_shape_factory<Plane>();
ransac.add_shape_factory<Sphere>();
ransac.add_shape_factory<Cylinder>();
ransac.add_shape_factory<Cone>();
ransac.add_shape_factory<Torus>();
Efficient_ransac::Parameters parameters;
parameters.probability = 0.05;
parameters.min_points = 200;
parameters.epsilon = 0.002;
parameters.cluster_epsilon = 0.01;
parameters.normal_threshold = 0.9;
ransac.detect(parameters);
std::cout << ransac.shapes().end() - ransac.shapes().begin() << " detected shapes, "
<< ransac.number_of_unassigned_points()
<< " unassigned points." << std::endl;
Efficient_ransac::Shape_range shapes = ransac.shapes();
Efficient_ransac::Shape_range::iterator it = shapes.begin();
while (it != shapes.end()) {
std::cout << (*it)->info() << std::endl;
it++;
}
return EXIT_SUCCESS;
}