CGAL 6.2 - Kinetic Surface Reconstruction

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Kinetic_surface_reconstruction/ksr_parameters.cpp
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Kinetic_surface_reconstruction_3.h>
#include <CGAL/Point_set_3.h>
#include <CGAL/Point_set_3/IO.h>
#include <CGAL/Real_timer.h>
#include <CGAL/IO/PLY.h>
#include <CGAL/IO/polygon_soup_io.h>
#include <CGAL/pca_estimate_normals.h>
#include <CGAL/mst_orient_normals.h>
#include <CGAL/bounding_box.h>
#include <sstream>
#include "include/Parameters.h"
#include "include/Terminal_parser.h"
using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel;
using FT = typename Kernel::FT;
using Point_3 = typename Kernel::Point_3;
using Vector_3 = typename Kernel::Vector_3;
using Segment_3 = typename Kernel::Segment_3;
using Point_set = CGAL::Point_set_3<Point_3>;
using Point_map = typename Point_set::Point_map;
using Normal_map = typename Point_set::Vector_map;
using KSR = CGAL::Kinetic_surface_reconstruction_3<Kernel, Point_set, Point_map, Normal_map>;
using Parameters = CGAL::KSR::All_parameters<FT>;
using Terminal_parser = CGAL::KSR::Terminal_parser<FT>;
using Timer = CGAL::Real_timer;
template <typename T>
std::string to_stringp(const T a_value, const int n = 6)
{
std::ostringstream out;
out.precision(n);
out << std::fixed << a_value;
return out.str();
}
void parse_terminal(Terminal_parser& parser, Parameters& parameters) {
// Set all parameters that can be loaded from the terminal.
// add_str_parameter - adds a string-type parameter
// add_val_parameter - adds a scalar-type parameter
// add_bool_parameter - adds a boolean parameter
std::cout << std::endl;
std::cout << "--- INPUT PARAMETERS: " << std::endl;
parser.add_str_parameter("-data", parameters.data);
// Shape detection.
parser.add_val_parameter("-kn", parameters.k_neighbors);
parser.add_val_parameter("-dist", parameters.maximum_distance);
parser.add_val_parameter("-angle", parameters.maximum_angle);
parser.add_val_parameter("-minp", parameters.min_region_size);
// Shape regularization.
parser.add_bool_parameter("-regparallel", parameters.regparallel);
parser.add_bool_parameter("-regcoplanar", parameters.regcoplanar);
parser.add_bool_parameter("-regorthogonal", parameters.regorthogonal);
parser.add_bool_parameter("-regsymmetric", parameters.regsymmetric);
parser.add_val_parameter("-regoff", parameters.maximum_offset);
parser.add_val_parameter("-regangle", parameters.angle_tolerance);
// Shape regularization.
parser.add_bool_parameter("-reorient", parameters.reorient);
// Partitioning.
parser.add_val_parameter("-k", parameters.k_intersections);
parser.add_val_parameter("-odepth", parameters.max_octree_depth);
parser.add_val_parameter("-osize", parameters.max_octree_node_size);
// Reconstruction.
parser.add_val_parameter("-lambda", parameters.graphcut_lambda);
parser.add_val_parameter("-ground", parameters.use_ground);
// Debug.
parser.add_bool_parameter("-debug", parameters.debug);
// Verbose.
parser.add_bool_parameter("-verbose", parameters.verbose);
}
int main(const int argc, const char** argv) {
// Parameters.
std::cout.precision(20);
std::cout << std::endl;
std::cout << "--- PARSING INPUT: " << std::endl;
const auto kernel_name = boost::typeindex::type_id<Kernel>().pretty_name();
std::cout << "* used kernel: " << kernel_name << std::endl;
const std::string path_to_save = "";
Terminal_parser parser(argc, argv, path_to_save);
Parameters parameters;
parse_terminal(parser, parameters);
// If no input data is provided, use input from data directory.
if (parameters.data.empty())
parameters.data = CGAL::data_file_path("points_3/building.ply");
// Input.
Point_set point_set(parameters.with_normals);
CGAL::IO::read_point_set(parameters.data, point_set);
if (point_set.size() == 0) {
std::cout << "input file not found or empty!" << std::endl;
return EXIT_FAILURE;
}
if (!point_set.has_normal_map()) {
point_set.add_normal_map();
CGAL::pca_estimate_normals<CGAL::Parallel_if_available_tag>(point_set, 9);
CGAL::mst_orient_normals(point_set, 9);
}
for (std::size_t i = 0; i < point_set.size(); i++) {
Vector_3 n = point_set.normal(i);
if (abs(n * n) < 0.05)
std::cout << "point " << i << " does not have a proper normal" << std::endl;
}
if (parameters.maximum_distance == 0) {
CGAL::Bbox_3 bbox = CGAL::bbox_3(CGAL::make_transform_iterator_from_property_map(point_set.begin(), point_set.point_map()),
CGAL::make_transform_iterator_from_property_map(point_set.end(), point_set.point_map()));
FT d = CGAL::approximate_sqrt
((bbox.xmax() - bbox.xmin()) * (bbox.xmax() - bbox.xmin())
+ (bbox.ymax() - bbox.ymin()) * (bbox.ymax() - bbox.ymin())
+ (bbox.zmax() - bbox.zmin()) * (bbox.zmax() - bbox.zmin()));
parameters.maximum_distance = d * 0.03;
}
if (parameters.min_region_size == 0)
parameters.min_region_size = static_cast<std::atomic_size_t>(point_set.size() * 0.01);
std::cout << std::endl;
std::cout << "--- INPUT STATS: " << std::endl;
std::cout << "* number of points: " << point_set.size() << std::endl;
std::cout << "verbose " << parameters.verbose << std::endl;
std::cout << "maximum_distance " << parameters.maximum_distance << std::endl;
std::cout << "maximum_angle " << parameters.maximum_angle << std::endl;
std::cout << "min_region_size " << parameters.min_region_size << std::endl;
std::cout << "k " << parameters.k_intersections << std::endl;
std::cout << "graphcut_lambda " << parameters.graphcut_lambda << std::endl;
auto param = CGAL::parameters::maximum_distance(parameters.maximum_distance)
.maximum_angle(parameters.maximum_angle)
.k_neighbors(parameters.k_neighbors)
.minimum_region_size(parameters.min_region_size)
.debug(parameters.debug)
.verbose(parameters.verbose)
.max_octree_depth(parameters.max_octree_depth)
.max_octree_node_size(parameters.max_octree_node_size)
.reorient_bbox(parameters.reorient)
.regularize_parallelism(parameters.regparallel)
.regularize_coplanarity(parameters.regcoplanar)
.regularize_orthogonality(parameters.regorthogonal)
.regularize_axis_symmetry(parameters.regsymmetric)
.angle_tolerance(parameters.angle_tolerance)
.maximum_offset(parameters.maximum_offset);
// Algorithm.
KSR ksr(point_set, param);
Timer timer;
timer.start();
std::size_t num_shapes = ksr.detect_planar_shapes(param);
std::cout << num_shapes << " regularized detected planar shapes" << std::endl;
FT after_shape_detection = timer.time();
ksr.partition(parameters.k_intersections);
FT after_partition = timer.time();
std::vector<Point_3> vtx;
std::vector<std::vector<std::size_t> > polylist;
std::map<typename KSR::KSP::Face_support, bool> external_nodes;
if (parameters.use_ground) {
external_nodes[KSR::KSP::Face_support::ZMIN] = false;
ksr.reconstruct_with_ground(parameters.graphcut_lambda, std::back_inserter(vtx), std::back_inserter(polylist));
}
else
ksr.reconstruct(parameters.graphcut_lambda, external_nodes, std::back_inserter(vtx), std::back_inserter(polylist));
FT after_reconstruction = timer.time();
std::cout << polylist.size() << " polygons, " << vtx.size() << " vertices" << std::endl;
if (polylist.size() > 0)
CGAL::IO::write_polygon_soup("polylist_" + std::to_string(parameters.graphcut_lambda) + (parameters.use_ground ? "_g" : "_") + ".off", vtx, polylist);
timer.stop();
const FT time = static_cast<FT>(timer.time());
std::vector<FT> lambdas{ 0.3, 0.5, 0.6, 0.7, 0.73, 0.75, 0.77, 0.8, 0.9, 0.95, 0.99 };
bool non_empty = false;
for (FT l : lambdas) {
if (l == parameters.graphcut_lambda)
continue;
vtx.clear();
polylist.clear();
if (parameters.use_ground)
ksr.reconstruct_with_ground(l, std::back_inserter(vtx), std::back_inserter(polylist));
else
ksr.reconstruct(l, external_nodes, std::back_inserter(vtx), std::back_inserter(polylist));
if (polylist.size() > 0) {
non_empty = true;
CGAL::IO::write_polygon_soup("polylist_" + std::to_string(l) + (parameters.use_ground ? "_g" : "_") + ".off", vtx, polylist);
}
}
std::cout << "Shape detection and initialization\nof kinetic partition: " << after_shape_detection << " seconds!" << std::endl;
std::cout << "Kinetic partition: " << (after_partition - after_shape_detection) << " seconds!" << std::endl;
std::cout << "Kinetic reconstruction: " << (after_reconstruction - after_partition) << " seconds!" << std::endl;
std::cout << "Total time: " << time << " seconds!" << std::endl << std::endl;
return (non_empty) ? EXIT_SUCCESS : EXIT_FAILURE;
}
CGAL::Bbox_3
CGAL::Bbox_3::ymin
double ymin() const
CGAL::Bbox_3::xmax
double xmax() const
CGAL::Bbox_3::zmin
double zmin() const
CGAL::Bbox_3::zmax
double zmax() const
CGAL::Bbox_3::ymax
double ymax() const
CGAL::Bbox_3::xmin
double xmin() const
CGAL::Exact_predicates_inexact_constructions_kernel
CGAL::Kinetic_surface_reconstruction_3
Pipeline for piecewise planar surface reconstruction from a point cloud via inside/outside labeling o...
Definition: Kinetic_surface_reconstruction_3.h:59
Kernel::Point_3
Kernel::Segment_3
Kernel::Vector_3
CGAL::Polygon_mesh_processing::bbox
CGAL::Bbox_3 bbox(const PolygonMesh &pmesh, const NamedParameters &np=parameters::default_values())
Kernel