\( \newcommand{\E}{\mathrm{E}} \) \( \newcommand{\A}{\mathrm{A}} \) \( \newcommand{\R}{\mathrm{R}} \) \( \newcommand{\N}{\mathrm{N}} \) \( \newcommand{\Q}{\mathrm{Q}} \) \( \newcommand{\Z}{\mathrm{Z}} \) \( \def\ccSum #1#2#3{ \sum_{#1}^{#2}{#3} } \def\ccProd #1#2#3{ \sum_{#1}^{#2}{#3} }\)
CGAL 5.0 - Shape Detection
Shape_detection/efficient_RANSAC_and_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 <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 <CGAL/Regularization/regularize_planes.h>
// Type declarations.
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 ||
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.
Efficient_ransac efficient_ransac;
efficient_ransac.set_input(points);
efficient_ransac.add_shape_factory<Plane>();
efficient_ransac.detect();
Efficient_ransac::Plane_range planes = efficient_ransac.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;
}