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#include "include/utils.h"
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include <CGAL/Shape_regularization/regularize_planes.h>
// Typedefs.
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 Point_with_normal = std::pair<Point_3, Vector_3>;
using Point_map = CGAL::First_of_pair_property_map<Point_with_normal>;
using Normal_map = CGAL::Second_of_pair_property_map<Point_with_normal>;
using Pwn_vector = std::vector<Point_with_normal>;
using Traits = CGAL::Shape_detection::Efficient_RANSAC_traits<Kernel, Pwn_vector, Point_map, Normal_map>;
using RANSAC = CGAL::Shape_detection::Efficient_RANSAC<Traits>;
using Plane = CGAL::Shape_detection::Plane<Traits>;
using Plane_map = CGAL::Shape_detection::Plane_map<Traits>;
int main(int argc, char** argv) {
// If we want to load a different file, we load it from a path.
std::string path = CGAL::data_file_path("points_3/cube.pwn");
if (argc > 1) path = argv[1];
Pwn_vector points;
std::ifstream file(path.c_str(), std::ios_base::in);
CGAL::IO::set_ascii_mode(file);
file.precision(20);
if (!file ||
!CGAL::IO::read_XYZ(
file,
std::back_inserter(points),
CGAL::parameters::point_map(Point_map()).
normal_map(Normal_map()))) {
std::cerr << "Error: cannot read the file cube.pwn!" << std::endl;
return EXIT_FAILURE;
}
file.close();
// Call RANSAC shape detection with planes.
RANSAC efficient_ransac;
efficient_ransac.set_input(points);
efficient_ransac.add_shape_factory<Plane>();
efficient_ransac.detect();
auto planes = efficient_ransac.planes();
// Regularize detected planes.
CGAL::Shape_regularization::Planes::regularize_planes(
planes,
points,
CGAL::parameters::
plane_map(Plane_map()).
point_map(Point_map()).
plane_index_map(
CGAL::Shape_detection::Point_to_shape_index_map<Traits>(points, planes)).
regularize_coplanarity(false). // do not regularize coplanarity
maximum_angle(FT(10))); // 10 degrees of tolerance for parallelism / orthogonality
std::cout << "* all detected planes are regularized" << std::endl;
return EXIT_SUCCESS;
}
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