CGAL 6.1 - Polygonal Surface Reconstruction

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Polygonal_surface_reconstruction/polyfit_example_with_region_growing.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/Region_growing/Region_growing.h>
#include <CGAL/Shape_detection/Region_growing/Point_set.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 <fstream>
#include <CGAL/Timer.h>
#include <boost/range/irange.hpp>
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::FT FT;
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;
using Point_map_region_growing = CGAL::Compose_property_map<CGAL::Random_access_property_map<Point_vector>, Point_map >;
using Normal_map_region_growing = CGAL::Compose_property_map<CGAL::Random_access_property_map<Point_vector>, Normal_map >;
using Region_type = CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region<Kernel, std::size_t, Point_map_region_growing, Normal_map_region_growing>;
using Neighbor_query = CGAL::Shape_detection::Point_set::Sphere_neighbor_query<Kernel, std::size_t, Point_map_region_growing>;
using Region_growing = CGAL::Shape_detection::Region_growing<Neighbor_query, Region_type>;
typedef CGAL::Surface_mesh<Point> Surface_mesh;
typedef CGAL::Polygonal_surface_reconstruction<Kernel> Polygonal_surface_reconstruction;
/*
* This example first extracts planes from the input point cloud
* (using region growing) and then reconstructs
* the surface model from the planes.
*/
int main(int argc, char* argv[])
{
Point_vector points;
// Load 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.
// Default parameter values for the data file cube.pwn.
const FT search_sphere_radius = FT(2) / FT(100);
const FT max_distance_to_plane = FT(2) / FT(1000);
const FT max_accepted_angle = FT(25);
const std::size_t min_region_size = 200;
Point_map_region_growing point_map_rg(CGAL::make_random_access_property_map(points));
Normal_map_region_growing normal_map_rg(CGAL::make_random_access_property_map(points));
// Create instances of the classes Neighbor_query and Region_type.
Neighbor_query neighbor_query(
boost::irange<std::size_t>(0, points.size()), CGAL::parameters::sphere_radius(search_sphere_radius).point_map(point_map_rg));
Region_type region_type(
CGAL::parameters::
maximum_distance(max_distance_to_plane).
maximum_angle(max_accepted_angle).
minimum_region_size(min_region_size).
point_map(point_map_rg).
normal_map(normal_map_rg));
// Create an instance of the region growing class.
Region_growing region_growing(
boost::irange<std::size_t>(0, points.size()), neighbor_query, region_type);
std::cout << "Extracting planes...";
std::vector<typename Region_growing::Primitive_and_region> regions;
t.reset();
region_growing.detect(std::back_inserter(regions));
std::cout << " Done. " << regions.size() << " planes extracted. Time: "
<< t.time() << " sec." << std::endl;
// Stores the plane index of each point as the third element of the tuple.
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.
points[i].get<2>() = static_cast<int>(get(region_growing.region_map(), i));
// Reconstruction.
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;
}
std::cout << " Done. Time: " << t.time() << " sec." << std::endl;
std::cout << "Saving...";
t.reset();
const std::string& output_file("with_region_growing_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;
}
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)
Point_set.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::Point_set::Least_squares_plane_fit_region
CGAL::Shape_detection::Point_set::Sphere_neighbor_query
CGAL::Shape_detection::Region_growing
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())
CGAL::parameters
Kernel