CGAL 6.2 - Shape Detection: Shape_detection/efficient_RANSAC_basic.cpp

CGAL 6.2 - Shape Detection

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Shape_detection/efficient_RANSAC_basic.cpp
#if defined (_MSC_VER) && !defined (_WIN64)
#pragma warning(disable:4244) // boost::number_distance::distance()
// converts 64 to 32 bits integers
#endif
#include <fstream>
#include <iostream>
#include <CGAL/property_map.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/Point_with_normal_3.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
// Type declarations.
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef std::pair<Kernel::Point_3, Kernel::Vector_3> Point_with_normal;
typedef std::vector<Point_with_normal> Pwn_vector;
typedef CGAL::First_of_pair_property_map<Point_with_normal> Point_map;
typedef CGAL::Second_of_pair_property_map<Point_with_normal> Normal_map;
typedef CGAL::Shape_detection::Efficient_RANSAC_traits
<Kernel, Pwn_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection::Plane<Traits> Plane;
int main (int argc, char** argv) {
std::cout << "Efficient RANSAC" << std::endl;
const std::string filename = (argc > 1) ? argv[1] : CGAL::data_file_path("points_3/cube.pwn");
// Points with normals.
Pwn_vector points;
// Load point set from a file.
if (!CGAL::IO::read_points(
filename,
std::back_inserter(points),
CGAL::parameters::point_map(Point_map()).
normal_map(Normal_map()))) {
std::cerr << "Error: cannot read file cube.pwn!" << std::endl;
return EXIT_FAILURE;
}
// Instantiate shape detection engine.
Efficient_ransac ransac;
// Provide input data.
ransac.set_input(points);
// Register planar shapes via template method.
ransac.add_shape_factory<Plane>();
// Detect registered shapes with default parameters.
ransac.detect();
// Print number of detected shapes.
std::cout << ransac.shapes().end() - ransac.shapes().begin()
<< " shapes detected." << std::endl;
return EXIT_SUCCESS;
}
Efficient_RANSAC.h
A convenience header that includes all classes related to the efficient RANSAC algorithm.
CGAL::Exact_predicates_inexact_constructions_kernel
CGAL::Shape_detection::Efficient_RANSAC
Shape detection algorithm based on the RANSAC method.
Definition: Efficient_RANSAC.h:60
CGAL::Shape_detection::Plane
Plane implements Shape_base.
Definition: Plane.h:33
CGAL::IO::read_points
bool read_points(const std::string &fname, PointOutputIterator output, const NamedParameters &np=parameters::default_values())
Kernel
CGAL::First_of_pair_property_map
CGAL::Second_of_pair_property_map
CGAL::Shape_detection::Efficient_RANSAC_traits
Default traits class for the CGAL::Shape_detection::Efficient_RANSAC.
Definition: Efficient_RANSAC_traits.h:41