CGAL 6.1 - Polygonal Surface Reconstruction

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Polygonal_surface_reconstruction/polyfit_example_without_input_planes.cpp
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/property_map.h>
#include <CGAL/Surface_mesh.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include <CGAL/Polygonal_surface_reconstruction.h>
#ifdef CGAL_USE_SCIP // defined (or not) by CMake scripts, do not define by hand
#include <CGAL/SCIP_mixed_integer_program_traits.h>
typedef CGAL::SCIP_mixed_integer_program_traits<double> MIP_Solver;
#elif defined(CGAL_USE_GLPK) // defined (or not) by CMake scripts, do not define by hand
#include <CGAL/GLPK_mixed_integer_program_traits.h>
typedef CGAL::GLPK_mixed_integer_program_traits<double> MIP_Solver;
#endif
#if defined(CGAL_USE_GLPK) || defined(CGAL_USE_SCIP)
#include <CGAL/Timer.h>
#include <fstream>
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::Point_3 Point;
typedef Kernel::Vector_3 Vector;
// Point with normal, and plane index
typedef boost::tuple<Point, Vector, int> PNI;
typedef std::vector<PNI> Point_vector;
typedef CGAL::Nth_of_tuple_property_map<0, PNI> Point_map;
typedef CGAL::Nth_of_tuple_property_map<1, PNI> Normal_map;
typedef CGAL::Nth_of_tuple_property_map<2, PNI> Plane_index_map;
typedef CGAL::Shape_detection::Efficient_RANSAC_traits<Kernel, Point_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection::Plane<Traits> Plane;
typedef CGAL::Shape_detection::Point_to_shape_index_map<Traits> Point_to_shape_index_map;
typedef CGAL::Polygonal_surface_reconstruction<Kernel> Polygonal_surface_reconstruction;
typedef CGAL::Surface_mesh<Point> Surface_mesh;
/*
* This example first extracts planes from the input point cloud
* (using RANSAC with default parameters) and then reconstructs
* the surface model from the planes.
*/
int main(int argc, char* argv[])
{
Point_vector points;
// Loads point set from a file.
const std::string input_file = (argc > 1) ? argv[1] : CGAL::data_file_path("points_3/cube.pwn");
std::ifstream input_stream(input_file.c_str());
if (input_stream.fail()) {
std::cerr << "failed open file \'" <<input_file << "\'" << std::endl;
return EXIT_FAILURE;
}
input_stream.close();
std::cout << "Loading point cloud: " << input_file << "...";
CGAL::Timer t;
t.start();
if (!CGAL::IO::read_points(input_file.c_str(), std::back_inserter(points),
CGAL::parameters::point_map(Point_map()).normal_map(Normal_map())))
{
std::cerr << "Error: cannot read file " << input_file << std::endl;
return EXIT_FAILURE;
}
else
std::cout << " Done. " << points.size() << " points. Time: " << t.time() << " sec." << std::endl;
// Shape detection
Efficient_ransac ransac;
ransac.set_input(points);
ransac.add_shape_factory<Plane>();
std::cout << "Extracting planes...";
t.reset();
ransac.detect();
Efficient_ransac::Plane_range planes = ransac.planes();
std::size_t num_planes = planes.size();
std::cout << " Done. " << num_planes << " planes extracted. Time: " << t.time() << " sec." << std::endl;
// Stores the plane index of each point as the third element of the tuple.
Point_to_shape_index_map shape_index_map(points, planes);
for (std::size_t i = 0; i < points.size(); ++i) {
// Uses the get function from the property map that accesses the 3rd element of the tuple.
int plane_index = get(shape_index_map, i);
points[i].get<2>() = plane_index;
}
std::cout << "Generating candidate faces...";
t.reset();
Polygonal_surface_reconstruction algo(
points,
Point_map(),
Normal_map(),
Plane_index_map()
);
std::cout << " Done. Time: " << t.time() << " sec." << std::endl;
Surface_mesh model;
std::cout << "Reconstructing...";
t.reset();
if (!algo.reconstruct<MIP_Solver>(model)) {
std::cerr << " Failed: " << algo.error_message() << std::endl;
return EXIT_FAILURE;
}
const std::string& output_file("without_input_planes_result.off");
if (CGAL::IO::write_OFF(output_file, model))
std::cout << " Done. Saved to " << output_file << ". Time: " << t.time() << " sec." << std::endl;
else {
std::cerr << " Failed saving file." << std::endl;
return EXIT_FAILURE;
}
// Also stores the candidate faces as a surface mesh to a file
Surface_mesh candidate_faces;
algo.output_candidate_faces(candidate_faces);
const std::string& candidate_faces_file("without_input_planes_cube_candidate_faces.off");
std::ofstream candidate_stream(candidate_faces_file.c_str());
if (CGAL::IO::write_OFF(candidate_stream, candidate_faces))
std::cout << "Candidate faces saved to " << candidate_faces_file << "." << std::endl;
return EXIT_SUCCESS;
}
#else
int main(int, char**)
{
std::cerr << "This test requires either GLPK or SCIP.\n";
return EXIT_SUCCESS;
}
#endif // defined(CGAL_USE_GLPK) || defined(CGAL_USE_SCIP)
Efficient_RANSAC.h
CGAL::Exact_predicates_inexact_constructions_kernel
CGAL::GLPK_mixed_integer_program_traits
CGAL::Polygonal_surface_reconstruction
Implementation of the Polygonal Surface Reconstruction method.
Definition: Polygonal_surface_reconstruction.h:58
CGAL::SCIP_mixed_integer_program_traits
CGAL::Shape_detection::Efficient_RANSAC
CGAL::Shape_detection::Plane
CGAL::Shape_detection::Point_to_shape_index_map
CGAL::Surface_mesh
Kernel::Point_3
Kernel::Vector_3
CGAL::IO::read_points
bool read_points(const std::string &fname, PointOutputIterator output, const NamedParameters &np=parameters::default_values())
CGAL::IO::write_OFF
bool write_OFF(std::ostream &os, const Surface_mesh< Point > &sm, const NamedParameters &np=parameters::default_values())
Kernel
CGAL::Shape_detection::Efficient_RANSAC_traits