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using the new Shape_detection implementation (instead of the deprecated Shape_detection_3)

This commit is contained in:
Liangliang Nan 2019-06-05 21:10:39 +02:00
parent fadaee63a8
commit 3b9c73c917
5 changed files with 67 additions and 67 deletions
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2
.gitignore vendored
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@ -1206,3 +1206,5 @@ gmon.*
/Stream_support/test/Stream_support/cgal_test_with_cmake /Stream_support/test/Stream_support/cgal_test_with_cmake
/*.html /*.html
/Snap_rounding_2/test/Snap_rounding_2/data/out /Snap_rounding_2/test/Snap_rounding_2/data/out
Polygonal_surface_reconstruction/examples/build*
Polygonal_surface_reconstruction/test/build*

11
Polygonal_surface_reconstruction/examples/Polygonal_surface_reconstruction/polyfit_example_without_input_planes.cpp
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@ -2,8 +2,8 @@
#include <CGAL/IO/read_xyz_points.h> #include <CGAL/IO/read_xyz_points.h>
#include <CGAL/IO/Writer_OFF.h> #include <CGAL/IO/Writer_OFF.h>
#include <CGAL/property_map.h> #include <CGAL/property_map.h>
#include <CGAL/Shape_detection_3.h>
#include <CGAL/Surface_mesh.h> #include <CGAL/Surface_mesh.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include <CGAL/Polygonal_surface_reconstruction.h> #include <CGAL/Polygonal_surface_reconstruction.h>
#include <CGAL/SCIP_mixed_integer_program_traits.h> #include <CGAL/SCIP_mixed_integer_program_traits.h>
#include <CGAL/Timer.h> #include <CGAL/Timer.h>
@ -23,10 +23,11 @@ typedef CGAL::Nth_of_tuple_property_map<0, PNI> Point_map;
typedef CGAL::Nth_of_tuple_property_map<1, PNI> Normal_map; typedef CGAL::Nth_of_tuple_property_map<1, PNI> Normal_map;
typedef CGAL::Nth_of_tuple_property_map<2, PNI> Plane_index_map; typedef CGAL::Nth_of_tuple_property_map<2, PNI> Plane_index_map;
typedef CGAL::Shape_detection_3::Shape_detection_traits<Kernel, Point_vector, Point_map, Normal_map> Traits; typedef CGAL::Shape_detection::Efficient_RANSAC_traits<Kernel, Point_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection_3::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection_3::Plane<Traits> Plane; typedef CGAL::Shape_detection::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection_3::Point_to_shape_index_map<Traits> Point_to_shape_index_map; typedef CGAL::Shape_detection::Plane<Traits> Plane;
typedef CGAL::Shape_detection::Point_to_shape_index_map<Traits> Point_to_shape_index_map;
typedef CGAL::Polygonal_surface_reconstruction<Kernel> Polygonal_surface_reconstruction; typedef CGAL::Polygonal_surface_reconstruction<Kernel> Polygonal_surface_reconstruction;
typedef CGAL::Surface_mesh<Point> Surface_mesh; typedef CGAL::Surface_mesh<Point> Surface_mesh;

35
Polygonal_surface_reconstruction/test/Polygonal_surface_reconstruction/polygonal_surface_reconstruction_test.cpp
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@ -11,7 +11,6 @@
#include <CGAL/Simple_cartesian.h> #include <CGAL/Simple_cartesian.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h> #include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Exact_predicates_exact_constructions_kernel.h>
#ifndef SKIP_TEST_USING_GLPK #ifndef SKIP_TEST_USING_GLPK
#include <CGAL/GLPK_mixed_integer_program_traits.h> #include <CGAL/GLPK_mixed_integer_program_traits.h>
@ -32,16 +31,16 @@ typedef CGAL::GLPK_mixed_integer_program_traits<double> GLPK_Solver;
typedef CGAL::SCIP_mixed_integer_program_traits<double> SCIP_Solver; typedef CGAL::SCIP_mixed_integer_program_traits<double> SCIP_Solver;
int main(int argc, char * argv[]) int main(int argc, char* argv[])
{ {
std::cerr << "Testing the Polygonal Surface Reconstruction method...\n\n"; std::cerr << "Testing the Polygonal Surface Reconstruction method...\n";
#if 0 #if 0
argc = 2; argc = 2;
argv[1] = "data/icosahedron.pwn"; argv[1] = "data/icosahedron.pwn";
//argv[1] = "data/house.ply"; //argv[1] = "data/house.ply";
//argv[1] = "data/chair.ply"; //argv[1] = "data/chair.ply";
//argv[1] = "data/square.ply"; //argv[1] = "data/square.ply";
#endif #endif
// usage // usage
@ -49,7 +48,7 @@ int main(int argc, char * argv[])
std::cerr << "For the input point cloud, reconstruct a water-tight polygonal surface.\n"; std::cerr << "For the input point cloud, reconstruct a water-tight polygonal surface.\n";
std::cerr << "\n"; std::cerr << "\n";
std::cerr << "Usage: " << argv[0] << " point_cloud_file" << std::endl; std::cerr << "Usage: " << argv[0] << " point_cloud_file" << std::endl;
std::cerr << "Input file formats are \'pwn\' and \'ply\'. No output.\n\n"; std::cerr << "Input file formats are \'pwn\' and \'ply\'. No output.\n";
return EXIT_FAILURE; return EXIT_FAILURE;
} }
@ -57,50 +56,50 @@ int main(int argc, char * argv[])
//--------------------------------------------------------------------- //---------------------------------------------------------------------
std::cerr << "--- Using Simple cartesian kernel\n\n"; std::cerr << "--- Using Simple cartesian kernel";
//--------------------------------------------------------------------- //---------------------------------------------------------------------
#ifndef SKIP_TEST_USING_GLPK #ifndef SKIP_TEST_USING_GLPK
std::cerr << "\n\t---- Using GLPK solver\n\n"; std::cerr << "\n\t---- Using GLPK solver\n";
std::cerr << "\t\t---- using provided planes\n"; std::cerr << "\t\t---- using provided planes\n";
reconstruct<Cartesian, GLPK_Solver>(input_file, false); reconstruct<Cartesian, GLPK_Solver>(input_file, false);
std::cerr << "\n\t\t---- re-extract planes\n"; std::cerr << "\t\t---- re-extract planes\n";
reconstruct<Cartesian, GLPK_Solver>(input_file, true); reconstruct<Cartesian, GLPK_Solver>(input_file, true);
#endif #endif
std::cerr << "\n\t---- Using SCIP solver\n\n"; std::cerr << "\n\t---- Using SCIP solver\n";
std::cerr << "\t\t---- using provided planes\n"; std::cerr << "\t\t---- using provided planes\n";
reconstruct<Cartesian, SCIP_Solver>(input_file, false); reconstruct<Cartesian, SCIP_Solver>(input_file, false);
std::cerr << "\n\t\t---- re-extract planes\n\n"; std::cerr << "\t\t---- re-extract planes\n";
reconstruct<Cartesian, SCIP_Solver>(input_file, true); reconstruct<Cartesian, SCIP_Solver>(input_file, true);
//--------------------------------------------------------------------- //---------------------------------------------------------------------
std::cerr << "\n--- Using Epick kernel\n\n"; std::cerr << "\n--- Using Epick kernel";
//--------------------------------------------------------------------- //---------------------------------------------------------------------
#ifndef SKIP_TEST_USING_GLPK #ifndef SKIP_TEST_USING_GLPK
std::cerr << "\t---- Using GLPK solver\n\n"; std::cerr << "\n\t---- Using GLPK solver\n";
std::cerr << "\t\t---- using provided planes\n"; std::cerr << "\t\t---- using provided planes\n";
reconstruct<Epick, GLPK_Solver>(input_file, false); reconstruct<Epick, GLPK_Solver>(input_file, false);
std::cerr << "\n\t\t---- re-extract planes\n"; std::cerr << "\t\t---- re-extract planes\n";
reconstruct<Epick, GLPK_Solver>(input_file, true); reconstruct<Epick, GLPK_Solver>(input_file, true);
#endif #endif
std::cerr << "\n\t---- Using SCIP solver\n\n"; std::cerr << "\n\t---- Using SCIP solver\n";
std::cerr << "\t\t---- using provided planes\n"; std::cerr << "\t\t---- using provided planes\n";
reconstruct<Epick, SCIP_Solver>(input_file, false); reconstruct<Epick, SCIP_Solver>(input_file, false);
std::cerr << "\n\t\t---- re-extract planes\n"; std::cerr << "\t\t---- re-extract planes\n";
reconstruct<Epick, SCIP_Solver>(input_file, true); reconstruct<Epick, SCIP_Solver>(input_file, true);
} }

84
Polygonal_surface_reconstruction/test/Polygonal_surface_reconstruction/polygonal_surface_reconstruction_test_framework.h
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@ -4,8 +4,8 @@
#include <CGAL/IO/read_xyz_points.h> #include <CGAL/IO/read_xyz_points.h>
#include <CGAL/IO/read_ply_points.h> #include <CGAL/IO/read_ply_points.h>
#include <CGAL/property_map.h> #include <CGAL/property_map.h>
#include <CGAL/Shape_detection_3.h>
#include <CGAL/Surface_mesh.h> #include <CGAL/Surface_mesh.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
#include <CGAL/Polygonal_surface_reconstruction.h> #include <CGAL/Polygonal_surface_reconstruction.h>
#include <CGAL/Timer.h> #include <CGAL/Timer.h>
@ -22,32 +22,32 @@
template <typename Kernel, typename MIP_Solver> template <typename Kernel, typename MIP_Solver>
int reconstruct(const std::string& input_file, bool force_extract_planes) int reconstruct(const std::string& input_file, bool force_extract_planes)
{ {
typedef typename Kernel::Point_3 Point; typedef typename Kernel::Point_3 Point;
typedef typename Kernel::Vector_3 Vector; typedef typename Kernel::Vector_3 Vector;
typedef CGAL::Polygonal_surface_reconstruction<Kernel> Polygonal_surface_reconstruction; typedef CGAL::Polygonal_surface_reconstruction<Kernel> Polygonal_surface_reconstruction;
typedef CGAL::Surface_mesh<Point> Surface_mesh; typedef CGAL::Surface_mesh<Point> Surface_mesh;
// Point with normal, and plane index // Point with normal, and plane index
typedef boost::tuple<Point, Vector, int> PNI; typedef boost::tuple<Point, Vector, int> PNI;
typedef std::vector<PNI> Point_vector; typedef std::vector<PNI> Point_vector;
typedef CGAL::Nth_of_tuple_property_map<0, PNI> Point_map; typedef CGAL::Nth_of_tuple_property_map<0, PNI> Point_map;
typedef CGAL::Nth_of_tuple_property_map<1, PNI> Normal_map; typedef CGAL::Nth_of_tuple_property_map<1, PNI> Normal_map;
typedef CGAL::Nth_of_tuple_property_map<2, PNI> Plane_index_map; typedef CGAL::Nth_of_tuple_property_map<2, PNI> Plane_index_map;
typedef CGAL::Shape_detection_3::Shape_detection_traits<Kernel, Point_vector, Point_map, Normal_map> Traits; typedef CGAL::Shape_detection::Efficient_RANSAC_traits<Kernel, Point_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection_3::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection_3::Plane<Traits> Plane;
typedef CGAL::Shape_detection_3::Point_to_shape_index_map<Traits> Point_to_shape_index_map;
typedef CGAL::Shape_detection::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection::Plane<Traits> Plane;
typedef CGAL::Shape_detection::Point_to_shape_index_map<Traits> Point_to_shape_index_map;
Point_vector points; Point_vector points;
// Loads point set from a file. // Loads point set from a file.
std::ifstream input_stream(input_file.c_str()); std::ifstream input_stream(input_file.c_str());
if (!input_stream) { if (!input_stream) {
std::cerr << " Error: cannot read file " << input_file << std::endl; std::cerr << " Error: cannot read file " << input_file << std::endl;
return EXIT_FAILURE; return EXIT_FAILURE;
} }
std::cout << "\t\t\tLoading point cloud: " << input_file << "..."; std::cout << "\t\t\tLoading point cloud: " << input_file << "...";
std::string extension = input_file.substr(input_file.find_last_of('.')); std::string extension = input_file.substr(input_file.find_last_of('.'));
@ -57,34 +57,34 @@ int reconstruct(const std::string& input_file, bool force_extract_planes)
CGAL::Timer t; CGAL::Timer t;
t.start(); t.start();
if (extension == ".pwn") { if (extension == ".pwn") {
if (!CGAL::read_xyz_points( if (!CGAL::read_xyz_points(
input_stream, input_stream,
std::back_inserter(points), std::back_inserter(points),
CGAL::parameters::point_map(Point_map()).normal_map(Normal_map()))) CGAL::parameters::point_map(Point_map()).normal_map(Normal_map())))
{ {
std::cerr << " Error: cannot read file " << input_file << std::endl; std::cerr << " Error: cannot read file " << input_file << std::endl;
return EXIT_FAILURE; return EXIT_FAILURE;
} }
else else
std::cout << " Done. " << points.size() << " points. Time: " << t.time() << " sec." << std::endl; std::cout << " Done. " << points.size() << " points. Time: " << t.time() << " sec." << std::endl;
} }
else if (extension == ".ply") { else if (extension == ".ply") {
if (!CGAL::read_ply_points_with_properties( if (!CGAL::read_ply_points_with_properties(
input_stream, input_stream,
std::back_inserter(points), std::back_inserter(points),
CGAL::make_ply_point_reader(Point_map()), CGAL::make_ply_point_reader(Point_map()),
CGAL::make_ply_normal_reader(Normal_map()), CGAL::make_ply_normal_reader(Normal_map()),
std::make_pair(Plane_index_map(), CGAL::PLY_property<int>("segment_index")))) std::make_pair(Plane_index_map(), CGAL::PLY_property<int>("segment_index"))))
{ {
std::cerr << " Error: cannot read file " << input_file << std::endl; std::cerr << " Error: cannot read file " << input_file << std::endl;
return EXIT_FAILURE; return EXIT_FAILURE;
} }
else else
std::cout << " Done. " << points.size() << " points. Time: " << t.time() << " sec." << std::endl; std::cout << " Done. " << points.size() << " points. Time: " << t.time() << " sec." << std::endl;
int max_plane_index = 0; int max_plane_index = 0;
for (std::size_t i = 0; i < points.size(); ++i) { for (std::size_t i = 0; i < points.size(); ++i) {
int plane_index = points[i].template get<2>(); int plane_index = points[i].template get<2>();
if (plane_index > max_plane_index) if (plane_index > max_plane_index)
max_plane_index = plane_index; max_plane_index = plane_index;
} }
@ -106,12 +106,12 @@ int reconstruct(const std::string& input_file, bool force_extract_planes)
// Shape detection // Shape detection
Efficient_ransac ransac; Efficient_ransac ransac;
ransac.set_input(points); ransac.set_input(points);
ransac.template add_shape_factory<Plane>(); ransac.template add_shape_factory<Plane>();
t.reset(); t.reset();
ransac.detect(); ransac.detect();
typename Efficient_ransac::Plane_range planes = ransac.planes(); typename Efficient_ransac::Plane_range planes = ransac.planes();
std::size_t num_planes = planes.size(); std::size_t num_planes = planes.size();
std::cout << " Done. " << num_planes << " planes extracted. Time: " << t.time() << " sec." << std::endl; std::cout << " Done. " << num_planes << " planes extracted. Time: " << t.time() << " sec." << std::endl;
@ -121,7 +121,7 @@ int reconstruct(const std::string& input_file, bool force_extract_planes)
for (std::size_t i = 0; i < points.size(); ++i) { for (std::size_t i = 0; i < points.size(); ++i) {
// Use the get function from the property map that accesses the 3rd element of the tuple. // Use the get function from the property map that accesses the 3rd element of the tuple.
int plane_index = get(shape_index_map, i); int plane_index = get(shape_index_map, i);
points[i].template get<2>() = plane_index; points[i].template get<2>() = plane_index;
} }
} }
@ -146,19 +146,19 @@ int reconstruct(const std::string& input_file, bool force_extract_planes)
std::cout << "\t\t\tReconstructing..."; std::cout << "\t\t\tReconstructing...";
t.reset(); t.reset();
if (!algo.template reconstruct<MIP_Solver>(model)) { if (!algo.template reconstruct<MIP_Solver>(model)) {
std::cerr << " Failed: " << algo.error_message() << std::endl; std::cerr << " Failed: " << algo.error_message() << std::endl;
return EXIT_FAILURE; return EXIT_FAILURE;
} }
std::cout << " Done. Time: " << t.time() << " sec." << std::endl; std::cout << " Done. Time: " << t.time() << " sec. ";
if (model.is_valid()) { if (model.is_valid()) {
std::cout << "\t\t\tReconstructed model has " << model.number_of_faces() << " faces" << std::endl; std::cout << "\tReconstructed model has " << model.number_of_faces() << " faces" << std::endl;
return EXIT_FAILURE; return EXIT_SUCCESS;
} }
else { else {
std::cout << "\t\t\tReconstructed model is not valid. Reconstruction maybe failed?" << std::endl; std::cout << "\tReconstructed model is not valid. Reconstruction maybe failed?" << std::endl;
return EXIT_SUCCESS; return EXIT_FAILURE;
} }
} }

2
Stream_support/include/CGAL/IO/PLY.h
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@ -24,8 +24,6 @@
#include <CGAL/Kernel_traits.h> #include <CGAL/Kernel_traits.h>
#include <CGAL/IO/io.h> #include <CGAL/IO/io.h>
#include <boost/property_map/property_map.hpp>
#include <tuple> #include <tuple>
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>