CGAL 6.1.1 - Point Set Processing

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Point_set_processing_3/registration_with_opengr_pointmatcher_pipeline.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/Aff_transformation_3.h>
#include <CGAL/pointmatcher/register_point_sets.h>
#include <CGAL/OpenGR/compute_registration_transformation.h>
#include <fstream>
#include <iostream>
#include <utility>
#include <vector>
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 std::string fname1 = (argc>1) ? argv[1] : CGAL::data_file_path("points_3/hippo1.ply");
const std::string fname2 = (argc>2) ? argv[2] : CGAL::data_file_path("points_3/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;
}
std::cerr << "Computing registration transformation using OpenGR Super4PCS.." << std::endl;
// First, compute registration transformation using OpenGR Super4PCS
K::Aff_transformation_3 res =
std::get<0>( // get first of pair, which is the transformation
CGAL::OpenGR::compute_registration_transformation
(pwns1, pwns2,
params::point_map(Point_map()).normal_map(Normal_map()),
params::point_map(Point_map()).normal_map(Normal_map())));
std::cerr << "Computing registration transformation using PointMatcher ICP, "
<< "taking transformation computed by OpenGR Super4PCS as initial transformation.." << std::endl;
// Then, compute registration transformation using PointMatcher ICP, taking transformation computed
// by OpenGR as initial transformation, and apply the transformation to pwns2
// bool converged =
CGAL::pointmatcher::register_point_sets
(pwns1, pwns2,
params::point_map(Point_map()).normal_map(Normal_map()),
params::point_map(Point_map()).normal_map(Normal_map()).transformation(res));
if(!CGAL::IO::write_points("pwns2_aligned.ply", pwns2,
CGAL::parameters::point_map(Point_map())
.normal_map(Normal_map())))
{
return EXIT_FAILURE;
}
std::cerr << "Transformed version of " << fname2
<< " written to pwn2_aligned.ply.\n";
return EXIT_SUCCESS;
}
CGAL::pointmatcher::register_point_sets
bool register_point_sets(const PointRange1 &point_set_1, PointRange2 &point_set_2, const NamedParameters1 &np1=parameters::default_values(), const NamedParameters2 &np2=parameters::default_values())
Computes the registration of point_set_2 with respect to point_set_1 and applies it.
Definition: register_point_sets.h:231
CGAL::OpenGR::compute_registration_transformation
std::pair< geom_traits::Aff_transformation_3, double > compute_registration_transformation(const PointRange1 &point_set_1, const PointRange2 &point_set_2, const NamedParameters1 &np1=parameters::default_values(), const NamedParameters2 &np2=parameters::default_values())
Computes the registration of point_set_2 with respect to point_set_1 and returns the corresponding af...
Definition: compute_registration_transformation.h:299
CGAL::IO::write_points
bool write_points(const std::string &fname, const PointRange &points, const NamedParameters &np=parameters::default_values(),)
writes the range of points with properties to a file.
Definition: write_points.h:92
CGAL::IO::read_points
bool read_points(const std::string &fname, PointOutputIterator output, const NamedParameters &np=parameters::default_values())
reads the point set from an input file.
Definition: read_points.h:89
CGAL::parameters
CGAL::First_of_pair_property_map
CGAL::Second_of_pair_property_map
CGAL::Simple_cartesian