Polygonal_surface_reconstruction/polyfit_example_without_input_planes.cpp

#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/IO/read_xyz_points.h>
#include <CGAL/IO/Writer_OFF.h>
#include <CGAL/property_map.h>
#include <CGAL/Surface_mesh.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include <CGAL/Polygonal_surface_reconstruction.h>

#ifdef CGAL_USE_SCIP

#include <CGAL/SCIP_mixed_integer_program_traits.h>
typedef CGAL::SCIP_mixed_integer_program_traits<double>                        MIP_Solver;

#elif defined(CGAL_USE_GLPK)

#include <CGAL/GLPK_mixed_integer_program_traits.h>
typedef CGAL::GLPK_mixed_integer_program_traits<double>                        MIP_Solver;

#endif


#if defined(CGAL_USE_GLPK) || defined(CGAL_USE_SCIP)

#include <CGAL/Timer.h>

#include <fstream>


typedef CGAL::Exact_predicates_inexact_constructions_kernel                        Kernel;

typedef Kernel::Point_3                                                                                                Point;
typedef Kernel::Vector_3                                                                                        Vector;

// Point with normal, and plane index
typedef boost::tuple<Point, Vector, int>                                                        PNI;
typedef std::vector<PNI>                                                                                        Point_vector;
typedef CGAL::Nth_of_tuple_property_map<0, PNI>                                                Point_map;
typedef CGAL::Nth_of_tuple_property_map<1, PNI>                                                Normal_map;
typedef CGAL::Nth_of_tuple_property_map<2, PNI>                                                Plane_index_map;

typedef CGAL::Shape_detection::Efficient_RANSAC_traits<Kernel, Point_vector, Point_map, Normal_map>     Traits;

typedef CGAL::Shape_detection::Efficient_RANSAC<Traits>             Efficient_ransac;
typedef CGAL::Shape_detection::Plane<Traits>                                                Plane;
typedef CGAL::Shape_detection::Point_to_shape_index_map<Traits>     Point_to_shape_index_map;

typedef        CGAL::Polygonal_surface_reconstruction<Kernel>                                Polygonal_surface_reconstruction;
typedef CGAL::Surface_mesh<Point>                                                                        Surface_mesh;

/*
* This example first extracts planes from the input point cloud
* (using RANSAC with default parameters) and then reconstructs
* the surface model from the planes.
*/

int main()
{
        Point_vector points;

        // Loads point set from a file.
        const std::string input_file("data/cube.pwn");
    std::ifstream input_stream(input_file.c_str());
        if (input_stream.fail()) {
                std::cerr << "failed open file \'" <<input_file << "\'" << std::endl;
                return EXIT_FAILURE;
        }
        std::cout << "Loading point cloud: " << input_file << "...";

        CGAL::Timer t;
        t.start();
    if (!input_stream ||
                !CGAL::read_xyz_points(input_stream,
                        std::back_inserter(points),
                        CGAL::parameters::point_map(Point_map()).normal_map(Normal_map())))
        {
                std::cerr << "Error: cannot read file " << input_file << std::endl;
                return EXIT_FAILURE;
        }
        else
                std::cout << " Done. " << points.size() << " points. Time: " << t.time() << " sec." << std::endl;

        // Shape detection
        Efficient_ransac ransac;
        ransac.set_input(points);
        ransac.add_shape_factory<Plane>();

        std::cout << "Extracting planes...";
        t.reset();
        ransac.detect();

        Efficient_ransac::Plane_range planes = ransac.planes();
        std::size_t num_planes = planes.size();

        std::cout << " Done. " << num_planes << " planes extracted. Time: " << t.time() << " sec." << std::endl;

        // Stores the plane index of each point as the third element of the tuple.
        Point_to_shape_index_map shape_index_map(points, planes);
        for (std::size_t i = 0; i < points.size(); ++i) {
                // Uses the get function from the property map that accesses the 3rd element of the tuple.
                int plane_index = get(shape_index_map, i);
                points[i].get<2>() = plane_index;
        }


        std::cout << "Generating candidate faces...";
        t.reset();

        Polygonal_surface_reconstruction algo(
                points,
                Point_map(),
                Normal_map(),
                Plane_index_map()
        );

        std::cout << " Done. Time: " << t.time() << " sec." << std::endl;


        Surface_mesh model;

        std::cout << "Reconstructing...";
        t.reset();

        if (!algo.reconstruct<MIP_Solver>(model)) {
                std::cerr << " Failed: " << algo.error_message() << std::endl;
                return EXIT_FAILURE;
        }

        const std::string& output_file("data/cube_result.off");
        std::ofstream output_stream(output_file.c_str());
        if (output_stream && CGAL::write_off(output_stream, model))
                std::cout << " Done. Saved to " << output_file << ". Time: " << t.time() << " sec." << std::endl;
        else {
                std::cerr << " Failed saving file." << std::endl;
                return EXIT_FAILURE;
        }


        // Also stores the candidate faces as a surface mesh to a file
        Surface_mesh candidate_faces;
        algo.output_candidate_faces(candidate_faces);
        const std::string& candidate_faces_file("data/cube_candidate_faces.off");
        std::ofstream candidate_stream(candidate_faces_file.c_str());
        if (candidate_stream && CGAL::write_off(candidate_stream, candidate_faces))
                std::cout << "Candidate faces saved to " << candidate_faces_file << "." << std::endl;

        return EXIT_SUCCESS;
}


#else

int main(int, char**)
{
    std::cerr << "This test requires either GLPK or SCIP.\n";
    return EXIT_SUCCESS;
}

#endif  // defined(CGAL_USE_GLPK) || defined(CGAL_USE_SCIP)