1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
|
#include <CGAL/Point_set_3.h>
#include <CGAL/Point_set_3/IO.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Shape_detection/Region_growing/Region_growing.h>
#include <CGAL/Shape_detection/Region_growing/Point_set.h>
#include <boost/iterator/function_output_iterator.hpp>
#include "include/utils.h"
// Typedefs.
using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel;
using FT = typename Kernel::FT;
using Point_3 = typename Kernel::Point_3;
using Point_set = CGAL::Point_set_3<Point_3>;
using Output_range = CGAL::Point_set_3<Point_3>;
using Point_map = typename Point_set::Point_map;
using Normal_map = typename Point_set::Vector_map;
using Region_type = CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region_for_point_set<Point_set>;
using Neighbor_query = CGAL::Shape_detection::Point_set::K_neighbor_query_for_point_set<Point_set>;
using Sorting = CGAL::Shape_detection::Point_set::Least_squares_plane_fit_sorting_for_point_set<Point_set, Neighbor_query>;
using Region_growing = CGAL::Shape_detection::Region_growing<Neighbor_query, Region_type>;
using Point_inserter = utils::Insert_point_colored_by_region_index<Point_set::Index, Output_range, Point_map, Kernel::Plane_3>;
int main(int argc, char *argv[]) {
// Load xyz data either from a local folder or a user-provided file.
const bool is_default_input = argc > 1 ? false : true;
std::ifstream in(is_default_input ? CGAL::data_file_path("points_3/building.xyz") : argv[1]);
CGAL::IO::set_ascii_mode(in);
if (!in) {
std::cerr << "ERROR: cannot read the input file!" << std::endl;
return EXIT_FAILURE;
}
const bool with_normal_map = true;
Point_set point_set(with_normal_map);
in >> point_set;
in.close();
std::cout << "* number of input points: " << point_set.size() << std::endl;
assert(!is_default_input || point_set.size() == 8075);
// Default parameter values for the data file building.xyz.
const std::size_t k = 12;
const FT max_distance = FT(2);
const FT max_angle = FT(20);
const std::size_t min_region_size = 50;
// Create instances of the classes Neighbor_query and Region_type.
Neighbor_query neighbor_query = CGAL::Shape_detection::Point_set::make_k_neighbor_query(
point_set, CGAL::parameters::k_neighbors(k));
Sorting sorting = CGAL::Shape_detection::Point_set::make_least_squares_plane_fit_sorting(point_set, neighbor_query);
sorting.sort();
Region_type region_type = CGAL::Shape_detection::Point_set::make_least_squares_plane_fit_region(
point_set,
CGAL::parameters::
maximum_distance(max_distance).
maximum_angle(max_angle).
minimum_region_size(min_region_size));
// Create an instance of the region growing class.
Region_growing region_growing(
point_set, sorting.ordered(), neighbor_query, region_type);
// Run the algorithm.
Output_range output_range;
std::size_t number_of_regions = 0;
Point_inserter inserter(
point_set.point_map(),
output_range, number_of_regions);
region_growing.detect(
boost::make_function_output_iterator(inserter));
std::cout << "* number of found planes: " << number_of_regions << std::endl;
assert(!is_default_input || number_of_regions == 7);
// Save regions to a file.
const std::string fullpath = (argc > 2 ? argv[2] : "planes_point_set_3.ply");
std::ofstream out(fullpath);
out << output_range;
out.close();
// Get all unassigned points.
std::vector<Region_type::Item> unassigned_items;
region_growing.unassigned_items(point_set, std::back_inserter(unassigned_items));
std::cout << "* number of unassigned points: " << unassigned_items.size() << std::endl;
assert(!is_default_input || unassigned_items.size() == 538);
// Store all unassigned points.
std::vector<Point_3> unassigned_points;
unassigned_points.reserve(unassigned_items.size());
for (const Region_type::Item &item : unassigned_items) {
const Point_3& point = get(point_set.point_map(), item);
unassigned_points.push_back(point);
}
return EXIT_SUCCESS;
}
|
