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Plug RANSAC in plane regularization class

This commit is contained in:
Simon Giraudot 2015-10-30 13:00:21 +01:00
parent cea079532a
commit 4c601e00db
1 changed files with 63 additions and 6 deletions
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69
Point_set_shape_detection_3/include/CGAL/Plane_regularization.h
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@ -29,35 +29,92 @@
#ifndef CGAL_PLANE_REGULARIZATION_H
#define CGAL_PLANE_REGULARIZATION_H
template <typename GeomTraits>
#include <CGAL/Shape_detection_3.h>
#include <boost/foreach.hpp>
namespace CGAL {
template <typename Traits>
class Plane_regularization
{
public:
typedef typename GeomTraits::FT FT;
typedef typename GeomTraits::Point_3 Point;
typedef typename GeomTraits::Vector_3 Vector;
typedef typename GeomTraits::Plane_3 Plane;
typedef Plane_regularization<Traits> Self;
typedef typename Traits::FT FT;
typedef typename Traits::Point_3 Point;
typedef typename Traits::Vector_3 Vector;
typedef typename Traits::Plane_3 Plane;
typedef typename Traits::Point_map Point_map;
typedef typename Traits::Normal_map Normal_map;
typedef typename Traits::Input_range Input_range;
typedef typename Input_range::iterator Input_iterator;
typedef Shape_detection_3::Shape_base<Traits> Shape;
typedef Shape_detection_3::Plane<Traits> Plane_shape;
private:
Traits m_traits;
Input_iterator m_input_begin;
Input_iterator m_input_end;
Point_map m_point_pmap;
Normal_map m_normal_pmap;
std::vector<boost::shared_ptr<Plane_shape> > m_planes;
public:
Plane_regularization ()
Plane_regularization (Traits t = Traits ())
: m_traits (t)
{
}
Plane_regularization (Input_range& input_range,
Shape_detection_3::Efficient_RANSAC<Traits>& shape_detection)
: m_traits (shape_detection.traits())
{
m_input_begin = input_range.begin ();
m_input_end = input_range.end ();
BOOST_FOREACH (boost::shared_ptr<Shape> shape, shape_detection.shapes())
{
boost::shared_ptr<Plane_shape> pshape
= boost::dynamic_pointer_cast<Plane_shape>(shape);
// Ignore all shapes other than plane
if (!pshape)
continue;
m_planes.push_back (pshape);
}
}
virtual ~Plane_regularization ()
{
clear ();
}
void clear ()
{
std::vector<boost::shared_ptr<Plane_shape> > ().swap (m_planes);
}
};
}; // namespace CGAL
#endif // CGAL_PLANE_REGULARIZATION_H