Point_set_processing_3/registration_with_OpenGR.cpp

#include <CGAL/Simple_cartesian.h>

#include <CGAL/IO/read_points.h>
#include <CGAL/IO/write_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 CGAL::Simple_cartesian<double> K;
typedef K::Point_3 Point_3;
typedef K::Vector_3 Vector_3;
typedef std::pair<Point_3, Vector_3> Pwn;
typedef CGAL::First_of_pair_property_map<Pwn> Point_map;
typedef CGAL::Second_of_pair_property_map<Pwn> Normal_map;

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;
  if(!CGAL::IO::read_points(fname1, 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;
  }

  if(!CGAL::IO::read_points(fname2, 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;
  }

  // EITHER call the registration method Super4PCS from OpenGR to get the transformation to apply to pwns2
  // std::pair<K::Aff_transformation_3, double> res =
    CGAL::OpenGR::compute_registration_transformation(pwns1, pwns2,
                                                      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 =
    CGAL::OpenGR::register_point_sets(pwns1, pwns2,
                                      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()));

  if(!CGAL::IO::write_points("pwns2_aligned.ply", pwns2,
                             CGAL::parameters::point_map(Point_map())
                                              .normal_map(Normal_map())
                                              .stream_precision(17)))
    return EXIT_FAILURE;

  std::cout << "Registration score: " << score << ".\n"
            << "Transformed version of " << fname2
            << " written to pwn2_aligned.ply.\n";

  return EXIT_SUCCESS;
}