\( \newcommand{\E}{\mathrm{E}} \) \( \newcommand{\A}{\mathrm{A}} \) \( \newcommand{\R}{\mathrm{R}} \) \( \newcommand{\N}{\mathrm{N}} \) \( \newcommand{\Q}{\mathrm{Q}} \) \( \newcommand{\Z}{\mathrm{Z}} \) \( \def\ccSum #1#2#3{ \sum_{#1}^{#2}{#3} } \def\ccProd #1#2#3{ \sum_{#1}^{#2}{#3} }\)

CGAL 4.8 - Point Set Shape Detection

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Point_set_shape_detection_3/efficient_RANSAC_basic.cpp
#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 <iostream>
#include <fstream>
// 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;
// In Efficient_RANSAC_traits the basic types, i.e., Point and Vector types
// as well as iterator type and property maps, are defined.
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()
{
// Points with normals.
Pwn_vector points;
// Loads point set from a file.
// read_xyz_points_and_normals takes an OutputIterator for storing the points
// and a property map to store the normal vector with each point.
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;
}
// Instantiates shape detection engine.
Efficient_ransac ransac;
// Provides the input data.
ransac.set_input(points);
// Registers planar shapes via template method.
ransac.add_shape_factory<Plane>();
// Detects registered shapes with default parameters.
ransac.detect();
// Prints number of detected shapes.
std::cout << ransac.shapes().end() - ransac.shapes().begin() << " shapes detected." << std::endl;
return EXIT_SUCCESS;
}