CGAL 5.2.1 - Point Set Processing
Point_set_processing_3/registration_with_OpenGR.cpp
#include <CGAL/Simple_cartesian.h>
#include <CGAL/IO/read_ply_points.h>
#include <CGAL/IO/write_ply_points.h>
#include <CGAL/property_map.h>
#include <CGAL/OpenGR/compute_registration_transformation.h>
#include <CGAL/OpenGR/register_point_sets.h>
#include <fstream>
#include <iostream>
#include <utility>
typedef K::Point_3 Point_3;
typedef K::Vector_3 Vector_3;
typedef std::pair<Point_3, Vector_3> Pwn;
namespace params = CGAL::parameters;
int main(int argc, const char** argv)
{
const char* fname1 = (argc>1)?argv[1]:"data/hippo1.ply";
const char* fname2 = (argc>2)?argv[2]:"data/hippo2.ply";
std::vector<Pwn> pwns1, pwns2;
std::ifstream input(fname1, std::ios::binary);
if (!input ||
!CGAL::read_ply_points(input, std::back_inserter(pwns1),
CGAL::parameters::point_map (CGAL::First_of_pair_property_map<Pwn>()).
normal_map (Normal_map())))
{
std::cerr << "Error: cannot read file " << fname1 << std::endl;
return EXIT_FAILURE;
}
input.close();
input.open(fname2, std::ios::binary);
if (!input ||
!CGAL::read_ply_points(input, std::back_inserter(pwns2),
CGAL::parameters::point_map (Point_map()).
normal_map (Normal_map())))
{
std::cerr << "Error: cannot read file " << fname2 << std::endl;
return EXIT_FAILURE;
}
input.close();
// EITHER call the registration method Super4PCS from OpenGR to get the transformation to apply to pwns2
// std::pair<K::Aff_transformation_3, double> res =
params::point_map(Point_map())
.normal_map(Normal_map())
.number_of_samples(200)
.maximum_running_time(60)
.accuracy(0.01),
params::point_map(Point_map())
.normal_map(Normal_map()));
// OR call the registration method Super4PCS from OpenGR and apply the transformation to pwn2
double score =
params::point_map(Point_map())
.normal_map(Normal_map())
.number_of_samples(200)
.maximum_running_time(60)
.accuracy(0.01),
params::point_map(Point_map())
.normal_map(Normal_map()));
std::ofstream out("pwns2_aligned.ply");
if (!out ||
out, pwns2,
CGAL::parameters::point_map(Point_map()).
normal_map(Normal_map())))
{
return EXIT_FAILURE;
}
std::cout << "Registration score: " << score << ".\n"
<< "Transformed version of " << fname2
<< " written to pwn2_aligned.ply.\n";
return EXIT_SUCCESS;
}