int main (int argc, char** argv)
{
// Points with normals.
Pwn_vector points;
// Loading point set from a file.
std::ifstream stream(argc>1 ? argv[1] : "data/cube.pwn");
if (!stream ||
!CGAL::read_xyz_points(stream,
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;
}
std::cerr << points.size() << " point(s) read." << std::endl;
// Shape detection
Efficient_ransac ransac;
ransac.set_input(points);
ransac.add_shape_factory<Plane>();
ransac.detect();
Efficient_ransac::Plane_range planes = ransac.planes();
Pwn_vector structured_pts;
CGAL::structure_point_set (points,
planes,
std::back_inserter (structured_pts),
0.015, // epsilon for structuring points
CGAL::parameters::point_map (Point_map()).
normal_map (Normal_map()).
plane_map (CGAL::Shape_detection_3::Plane_map<Traits>()).
plane_index_map (CGAL::Shape_detection_3::Point_to_shape_index_map<Traits>(points, planes)));
std::cerr << structured_pts.size ()
<< " structured point(s) generated." << std::endl;
std::ofstream out ("out.pwn");
CGAL::write_xyz_points (out, structured_pts,
CGAL::parameters::point_map(Point_map()).normal_map(Normal_map()));
out.close();
return EXIT_SUCCESS;
}
bool test_torus_connected_component() {
const int NB_ROUNDS = 10;
const int NB_POINTS = 2000;
typedef typename K::FT FT;
typedef CGAL::Point_with_normal_3<K> Pwn;
typedef CGAL::Point_3<K> Point;
typedef CGAL::Vector_3<K> Vector;
typedef std::vector<Pwn> Pwn_vector;
typedef CGAL::Identity_property_map<Pwn> Point_map;
typedef CGAL::Normal_of_point_with_normal_map<K> Normal_map;
typedef CGAL::Shape_detection_3::Shape_detection_traits<
K, Pwn_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection_3::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection_3::Torus<Traits> Torus;
std::size_t success = 0;
for (int i = 0;i<NB_ROUNDS;i++) {
Pwn_vector points;
// generate random points on torus
CGAL::Bbox_3 bbox(-10, -10, -10, 10, 10, 10);
FT minor_radius = (FT) 0.7;
FT major_radius = (FT) 2.0;
Vector axis = random_normal<K>();
Point center = random_point_in<K>(bbox);
sample_torus(NB_POINTS, center, axis,
major_radius, minor_radius, std::back_inserter(points));
CGAL::Vector_3<K> n = random_normal<K>();
n = CGAL::cross_product(axis, n);
n = n * (FT) 1.0 / (CGAL::sqrt(n.squared_length()));
CGAL::Plane_3<K> pl(center, n);
FT spacing = (FT) 1;
filter_by_distance(pl, spacing * FT(0.5), points);
Efficient_ransac ransac;
ransac.template add_shape_factory<Torus>();
ransac.set_input(points);
// Same parameters as for the parameters unit tests, besides
// the cluster_epsilon.
typename Efficient_ransac::Parameters parameters;
parameters.probability = 0.05f;
parameters.min_points = points.size()/10;
parameters.epsilon = 0.002f;
parameters.normal_threshold = 0.9f;
// The first half of rounds choose a high cluster_epsilon to get only
// a single shape and a lower cluster_epsilon for the second half
// to get two separated shapes.
if (i < NB_ROUNDS/2)
parameters.cluster_epsilon = spacing * (FT) 1.5;
else
parameters.cluster_epsilon = spacing * (FT) 0.9;
if (!ransac.detect(parameters)) {
std::cout << " aborted" << std::endl;
return false;
}
typename Efficient_ransac::Shape_range shapes = ransac.shapes();
if (i < NB_ROUNDS/2 && shapes.size() != 1)
continue;
if (i >= NB_ROUNDS/2 && shapes.size() != 2)
continue;
success++;
}
if (success >= NB_ROUNDS * 0.8) {
std::cout << " succeeded" << std::endl;
return true;
}
else {
std::cout << " failed" << std::endl;
return false;
}
}
bool test_sphere_parameters() {
const int NB_ROUNDS = 10;
const int NB_POINTS = 1000;
typedef typename K::FT FT;
typedef CGAL::Point_with_normal_3<K> Pwn;
typedef CGAL::Point_3<K> Point;
typedef std::vector<Pwn> Pwn_vector;
typedef CGAL::Identity_property_map<Pwn> Point_map;
typedef CGAL::Normal_of_point_with_normal_pmap<K> Normal_map;
typedef CGAL::Shape_detection_3::Efficient_RANSAC_traits<
K, Pwn_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection_3::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection_3::Sphere<Traits> Sphere;
std::size_t success = 0;
for (int i = 0;i<NB_ROUNDS;i++) {
Pwn_vector points;
// generate random points on random sphere
FT radius = 0;
Point center;
CGAL::Bbox_3 bbox(-10, -10, -10, 10, 10, 10);
sample_random_sphere_in_box(NB_POINTS, bbox, center,
radius, std::back_inserter(points));
// add outliers in second half of rounds
if (i >= NB_ROUNDS / 2)
for (std::size_t j = 0; j < NB_POINTS / 2; j++)
points.push_back(random_pwn_in<K>(bbox));
Efficient_ransac ransac;
Traits traits = ransac.traits();
ransac.template add_shape_factory<Sphere>();
ransac.set_input(points);
// Set cluster epsilon to a high value as just the parameters of
// the extracted primitives are to be tested.
typename Efficient_ransac::Parameters parameters;
parameters.probability = 0.05f;
parameters.min_points = NB_POINTS/10;
parameters.epsilon = 0.002f;
parameters.cluster_epsilon = 1.0f;
parameters.normal_threshold = 0.9f;
if (!ransac.detect(parameters)) {
std::cout << " aborted" << std::endl;
return false;
}
typename Efficient_ransac::Shape_range shapes = ransac.shapes();
// check: unique shape detected
if (shapes.size() != 1)
continue;
boost::shared_ptr<Sphere> sphere = boost::dynamic_pointer_cast<Sphere>((*shapes.first));
// check: shape detected is a cylinder
if (!sphere)
continue;
// Check radius and alignment with axis.
if (CGAL::abs(radius - sphere->radius()) > (FT) 0.02)
continue;
// Check center.
Point pos = sphere->center();
FT center_pos_sqlen = traits.compute_squared_length_3_object()(
traits.construct_vector_3_object()(center, pos));
if (center_pos_sqlen > FT(0.0004))
continue;
std::string info = sphere->info();
success++;
}
if (success >= NB_ROUNDS * 0.8) {
std::cout << " succeeded" << std::endl;
return true;
}
else {
std::cout << " failed" << std::endl;
return false;
}
}
bool test_plane_connected_component() {
const int NB_ROUNDS = 10;
typedef typename K::FT FT;
typedef CGAL::Point_with_normal_3<K> Pwn;
typedef CGAL::Point_3<K> Point;
typedef CGAL::Vector_3<K> Vector;
typedef std::vector<Pwn> Pwn_vector;
typedef CGAL::Identity_property_map<Pwn> Point_map;
typedef CGAL::Normal_of_point_with_normal_map<K> Normal_map;
typedef typename CGAL::Shape_detection_3::Shape_detection_traits<K,
Pwn_vector, Point_map, Normal_map> Traits;
typedef typename CGAL::Shape_detection_3::Efficient_RANSAC<Traits>
Efficient_ransac;
typedef typename CGAL::Shape_detection_3::Plane<Traits> Plane;
std::size_t success = 0;
for (int i = 0 ; i < NB_ROUNDS ; i++) {
Pwn_vector points;
Vector normal;
CGAL::Bbox_3 bbox(-10, -10, -10, 10, 10, 10);
// Sample 4 rectangles with 0.05 spacing between points
// and 0.2 spacing between rectangles.
Vector offset[] = {Vector((FT) 0, (FT) 0, (FT) 0),
Vector((FT) 1.2, (FT) 0, (FT) 0),
Vector((FT) 0, (FT) 1.2, (FT) 0),
Vector((FT) 1.2, (FT) 1.2, (FT) 0)};
for (std::size_t j = 0;j<4;j++) {
for (std::size_t x = 0;x<=20;x++)
for (std::size_t y = 0;y<=20;y++)
points.push_back(Pwn(Point(FT(x * 0.05), FT(y * 0.05), (FT) 1.0) + offset[j],
Vector((FT) 0, (FT) 0, (FT) 1)));
}
Efficient_ransac ransac;
ransac.template add_shape_factory<Plane>();
ransac.set_input(points);
// Same parameters as for the parameters unit tests, besides
// the cluster_epsilon.
typename Efficient_ransac::Parameters parameters;
parameters.probability = 0.05f;
parameters.min_points = 100;
parameters.epsilon = 0.002f;
parameters.normal_threshold = 0.9f;
// For the first half the rounds chose a high cluster_epsilon to find one
// shape and for the second half choose a small cluster_epsilon to find
// four separated shapes.
if (i < NB_ROUNDS/2)
parameters.cluster_epsilon = 0.201f;
else
parameters.cluster_epsilon = 0.051f;
if (!ransac.detect(parameters)) {
std::cout << " aborted" << std::endl;
return false;
}
typename Efficient_ransac::Shape_range shapes = ransac.shapes();
if (i < NB_ROUNDS/2 && shapes.size() != 1)
continue;
if (i >= NB_ROUNDS/2 && shapes.size() != 4)
continue;
success++;
}
if (success >= NB_ROUNDS * 0.8) {
std::cout << " succeeded" << std::endl;
return true;
}
else {
std::cout << " failed" << std::endl;
return false;
}
}