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#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/IO/read_xyz_points.h>
#include <CGAL/Point_with_normal_3.h>
#include <CGAL/property_map.h>
#include <CGAL/Shape_detection_3.h>
#include <CGAL/regularize_planes.h>
#include <iostream>
#include <fstream>
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_3::Efficient_RANSAC_traits
<Kernel, Pwn_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection_3::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection_3::Plane<Traits> Plane;
int main()
{
Pwn_vector points;
std::ifstream stream("data/cube.pwn");
if (!stream ||
!CGAL::read_xyz_points_and_normals(stream,
std::back_inserter(points),
Point_map(),
Normal_map()))
{
std::cerr << "Error: cannot read file cube.pwn" << std::endl;
return EXIT_FAILURE;
}
// Call RANSAC shape detection with planes
Efficient_ransac ransac;
ransac.set_input(points);
ransac.add_shape_factory<Plane>();
ransac.detect();
// Regularize detected planes
CGAL::regularize_planes (ransac,
true, // Regularize parallelism
true, // Regularize orthogonality
false, // Do not regularize coplanarity
true, // Regularize Z-symmetry (default)
10); // 10 degrees of tolerance for parallelism/orthogonality
return EXIT_SUCCESS;
}
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