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#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/Timer.h>
#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;
struct Timeout_callback {
mutable int nb;
mutable CGAL::Timer timer;
const double limit;
Timeout_callback(double limit) :
nb(0), limit(limit) {
timer.start();
}
bool operator()(double advancement) const {
// Avoid calling time() at every single iteration, which could
// impact performances very badly.
++nb;
if (nb % 1000 != 0)
return true;
// If the limit is reached, interrupt the algorithm.
if (timer.time() > limit) {
std::cerr << "Algorithm takes too long, exiting ("
<< 100.0 * advancement << "% done)" << std::endl;
return false;
}
return true;
}
};
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");
Pwn_vector points;
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;
}
Efficient_ransac ransac;
ransac.set_input(points);
ransac.add_shape_factory<Plane>();
// Create callback that interrupts the algorithm
// if it takes more than half a second.
Timeout_callback timeout_callback(0.5);
// Detect registered shapes with the default parameters.
ransac.detect(Efficient_ransac::Parameters(), timeout_callback);
return EXIT_SUCCESS;
}
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