CGAL 6.2 - Point Set Processing: Point_set_processing_3/structuring_example.cpp

CGAL 6.2 - Point Set Processing

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Point_set_processing_3/structuring_example.cpp
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/IO/write_points.h>
#include <CGAL/property_map.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include <CGAL/structure_point_set.h>
#include <iostream>
#include <fstream>
// Type declarations
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::Point_3 Point;
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;
// Efficient RANSAC types
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)
{
const std::string filename = (argc>1) ? argv[1] : CGAL::data_file_path("points_3/cube.pwn");
// Points with normals.
Pwn_vector points;
// Loading 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;
}
std::cerr << points.size() << " point(s) read." << std::endl;
// Shape detection
Efficient_ransac ransac;
ransac.set_input(points);
ransac.add_shape_factory<Plane>();
ransac.detect();
Efficient_ransac::Plane_range planes = ransac.planes();
Pwn_vector structured_pts;
CGAL::structure_point_set(points,
planes,
std::back_inserter(structured_pts),
0.015, // epsilon for structuring points
CGAL::parameters::point_map(Point_map())
.normal_map(Normal_map())
.plane_map(CGAL::Shape_detection::Plane_map<Traits>())
.plane_index_map(CGAL::Shape_detection::Point_to_shape_index_map<Traits>(points, planes)));
std::cerr << structured_pts.size ()
<< " structured point(s) generated." << std::endl;
CGAL::IO::write_points("out.pwn", structured_pts,
CGAL::parameters::point_map(Point_map())
.normal_map(Normal_map())
.stream_precision(17));
return EXIT_SUCCESS;
}
Efficient_RANSAC.h
CGAL::Exact_predicates_inexact_constructions_kernel
CGAL::Shape_detection::Efficient_RANSAC
CGAL::Shape_detection::Plane_map
CGAL::Shape_detection::Plane
CGAL::Shape_detection::Point_to_shape_index_map
Kernel::Point_3
CGAL::IO::write_points
bool write_points(const std::string &fname, const PointRange &points, const NamedParameters &np=parameters::default_values(),)
CGAL::IO::read_points
bool read_points(const std::string &fname, PointOutputIterator output, const NamedParameters &np=parameters::default_values())
CGAL::structure_point_set
OutputIterator structure_point_set(const PointRange &points, const PlaneRange &planes, OutputIterator output, double epsilon, const NamedParameters &np)
This is an implementation of the Point Set Structuring algorithm.
Definition: structure_point_set.h:1556
Kernel
CGAL::First_of_pair_property_map
CGAL::Second_of_pair_property_map
CGAL::Shape_detection::Efficient_RANSAC_traits