Shape_detection/efficient_RANSAC_with_custom_shape.cpp

#include <fstream>
#include <iostream>

#include <CGAL/property_map.h>
#include <CGAL/IO/read_xyz_points.h>
#include <CGAL/Point_with_normal_3.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>

#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include "include/efficient_RANSAC_with_custom_shape.h"

// Type declarations.
typedef CGAL::Exact_predicates_inexact_constructions_kernel  Kernel;
typedef std::pair<Kernel::Point_3, Kernel::Vector_3>         Point_with_normal;
typedef std::vector<Point_with_normal>                       Pwn_vector;
typedef CGAL::First_of_pair_property_map<Point_with_normal>  Point_map;
typedef CGAL::Second_of_pair_property_map<Point_with_normal> Normal_map;

typedef CGAL::Shape_detection::Efficient_RANSAC_traits
<Kernel, Pwn_vector, Point_map, Normal_map>             Traits;
typedef CGAL::Shape_detection::Efficient_RANSAC<Traits> Efficient_ransac;
typedef My_Plane<Traits>                                Plane;

int main(int argc, char** argv) {

  // Points with normals.
  Pwn_vector points;

  // Load point set from a file.
  std::ifstream stream((argc > 1) ? argv[1] : "data/cube.pwn");

  if (!stream ||
    !CGAL::read_xyz_points(
      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;
  }

  // Instantiate shape detection engine.
  Efficient_ransac ransac;

  // Provide input data.
  ransac.set_input(points);

  // Register planar shapes via template method.
  ransac.add_shape_factory<Plane>();

  // Detect registered shapes with default parameters.
  ransac.detect();

  // Print number of detected shapes.
  std::cout << ransac.shapes().end() - ransac.shapes().begin()
  << " shapes detected." << std::endl;

  return EXIT_SUCCESS;
}