added test

reduced std::cout output

Kinetic_surface_reconstruction/include/CGAL/Kinetic_surface_reconstruction_3.h

@@ -94,7 +94,10 @@ public:
   */
   template<typename NamedParameters = parameters::Default_named_parameters>
   Kinetic_surface_reconstruction_3(Point_range& points,
-    const NamedParameters& np = CGAL::parameters::default_values()) : m_points(points), m_ground_polygon_index(-1), m_kinetic_partition(np) {}
+    const NamedParameters& np = CGAL::parameters::default_values()) : m_points(points), m_ground_polygon_index(-1), m_kinetic_partition(np) {
+    m_verbose = parameters::choose_parameter(parameters::get_parameter(np, internal_np::verbose), false);
+    m_debug = parameters::choose_parameter(parameters::get_parameter(np, internal_np::debug), false);
+  }
 
   /*!
     \brief Detects shapes in the provided point cloud
@@ -175,6 +178,8 @@ public:
   */
   template<typename CGAL_NP_TEMPLATE_PARAMETERS>
   std::size_t detect_planar_shapes(const CGAL_NP_CLASS& np = parameters::default_values()) {
+    m_verbose = parameters::choose_parameter(parameters::get_parameter(np, internal_np::verbose), m_verbose);
+    m_debug = parameters::choose_parameter(parameters::get_parameter(np, internal_np::debug), m_debug);
 
     if (m_verbose)
       std::cout << std::endl << "--- DETECTING PLANAR SHAPES: " << std::endl;
@@ -346,7 +351,9 @@ public:
       }
       else edges[i] = m_face_neighbors_lcc[i];
     }
-    std::cout << redirected << " faces redirected to below ground" << std::endl;
+
+    if (m_verbose)
+      std::cout << redirected << " faces redirected to below ground" << std::endl;
 
     gc.solve(edges, m_face_area_lcc, m_cost_matrix, m_labels);
 
@@ -400,13 +407,6 @@ public:
 
     gc.solve(m_face_neighbors_lcc, m_face_area_lcc, m_cost_matrix, m_labels);
 
-    std::size_t in = 0, out = 0;
-    for (std::size_t i : m_labels)
-      if (i == 0) out++;
-      else in++;
-
-    std::cout << "total labels: " << m_labels.size() << " 0: " << out << " 1: " << in << std::endl;
-
     reconstructed_model_polylist_lcc(pit, polyit, beta);
   }
 
@@ -809,7 +809,8 @@ private:
         std::cout << "outside face" << std::endl;
     }
 
-    std::cout << "polygon regions " << polygon_regions.size() << std::endl;
+    if (m_verbose)
+      std::cout << "polygon regions " << polygon_regions.size() << std::endl;
 
     static bool saved = false;
 
@@ -879,8 +880,7 @@ private:
         indices[j] = p.first->second;
       }
 
-      if (true)
+      std::reverse(indices.begin(), indices.end());
-        std::reverse(indices.begin(), indices.end());
 
       *polyit++ = std::move(indices);
     }
@@ -2069,7 +2069,8 @@ private:
     cost_matrix[1][5] = 0;
 
     if (m_ground_polygon_index != -1 && ground) {
-      std::cout << "using estimated ground plane for reconstruction" << std::endl;
+      if (m_verbose)
+        std::cout << "using estimated ground plane for reconstruction" << std::endl;
       cost_matrix[0][0] = force;
       cost_matrix[0][1] = 0;
       cost_matrix[0][2] = 0;
@@ -2082,25 +2083,6 @@ private:
       cost_matrix[1][4] = force;
     }
   }
-
-/*
-  void dump_volume(std::size_t i, const std::string& filename, const CGAL::Color &color) const {
-    std::vector<KSP::Index> faces;
-    m_kinetic_partition.faces(i, std::back_inserter(faces));
-
-    std::vector<std::vector<Point_3> > pts(faces.size());
-    std::vector<CGAL::Color> col(faces.size(), color);
-    for (std::size_t j = 0; j < faces.size(); j++) {
-      m_kinetic_partition.vertices(faces[j], std::back_inserter(pts[j]));
-    }
-
-    CGAL::KSR_3::dump_polygons(pts, col, filename);
-  }
-
-  void dump_face(std::size_t i, const std::string& filename, const CGAL::Color& color) const {
-    std::vector<Point_3> face;
-    m_kinetic_partition.vertices(m_faces[i], std::back_inserter(face));
-  }*/
 };
 
 } // namespace CGAL

Kinetic_surface_reconstruction/test/Kinetic_surface_reconstruction/CMakeLists.txt

@@ -0,0 +1,39 @@
+# Created by the script cgal_create_CMakeLists.
+# This is the CMake script for compiling a set of CGAL applications.
+
+cmake_minimum_required(VERSION 3.1...3.15)
+
+project(Kinetic_surface_reconstruction_Examples)
+
+set(CMAKE_CXX_STANDARD 17)
+
+find_package(CGAL REQUIRED COMPONENTS Core)
+include(CGAL_CreateSingleSourceCGALProgram)
+
+find_package(Boost REQUIRED)
+if(Boost_FOUND)
+  message(STATUS "Found Boost")
+
+  find_package(Eigen3 3.1.0 REQUIRED)
+  if(Eigen3_FOUND)
+    message(STATUS "Found Eigen")
+    include(CGAL_Eigen_support)
+
+    set(targets ksr_test)
+
+    set(project_linked_libraries)
+    set(project_compilation_definitions)
+
+    foreach(target ${targets})
+      create_single_source_cgal_program("${target}.cpp")
+      if(TARGET ${target})
+        target_link_libraries(${target} PUBLIC ${project_linked_libraries} CGAL::Eigen_support)
+        target_compile_definitions(${target} PUBLIC ${project_compilation_definitions})
+      endif()
+    endforeach()
+  else()
+    message(ERROR "This program requires the Eigen library, and will not be compiled.")
+  endif()
+else()
+  message(ERROR "This program requires the Boost library, and will not be compiled.")
+endif()

Kinetic_surface_reconstruction/test/Kinetic_surface_reconstruction/ksr_test.cpp

@@ -0,0 +1,70 @@
+#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
+#include <CGAL/Kinetic_surface_reconstruction_3.h>
+#include <CGAL/Point_set_3.h>
+#include <CGAL/Point_set_3/IO.h>
+#include <CGAL/IO/polygon_soup_io.h>
+
+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 Segment_3 = typename Kernel::Segment_3;
+
+using Point_set    = CGAL::Point_set_3<Point_3>;
+using Point_map    = typename Point_set::Point_map;
+using Normal_map   = typename Point_set::Vector_map;
+
+using KSR = CGAL::Kinetic_surface_reconstruction_3<Kernel, Point_set, Point_map, Normal_map>;
+
+int main(const int argc, const char** argv) {
+  // Input.
+
+  Point_set point_set;
+  CGAL::IO::read_point_set(CGAL::data_file_path("points_3/building.xyz"), point_set);
+
+  auto param = CGAL::parameters::maximum_distance(0.05)
+    .maximum_angle(10)
+    .k_neighbors(12)
+    .minimum_region_size(50);
+
+  // Algorithm.
+  KSR ksr(point_set, param);
+
+  ksr.detection_and_partition(1, param);
+
+  std::vector<Point_3> vtx;
+  std::vector<std::vector<std::size_t> > polylist;
+
+  std::map<typename KSR::KSP::Face_support, bool> external_nodes;
+
+  bool failed = false;
+
+  ksr.reconstruct(0.5, external_nodes, std::back_inserter(vtx), std::back_inserter(polylist));
+
+  if (vtx.size() != 10 && polylist.size() != 7) {
+    std::cerr << "reconstruction with external nodes set to outside provided wrong result: #vtx " << vtx.size() << " expected: 10, #polys: " << polylist.size() << " expected: 7" << std::endl;
+    failed = true;
+  }
+
+  vtx.clear();
+  polylist.clear();
+
+  ksr.reconstruct_with_ground(0.5, std::back_inserter(vtx), std::back_inserter(polylist));
+
+  if (vtx.size() != 22 && polylist.size() != 7) {
+    std::cerr << "reconstruction with ground set to outside provided wrong result: #vtx " << vtx.size() << " expected: 22, #polys: " << polylist.size() << " expected: 7" << std::endl;
+    failed = true;
+  }
+
+  vtx.clear();
+  polylist.clear();
+
+  ksr.reconstruct_with_ground(0.999, std::back_inserter(vtx), std::back_inserter(polylist));
+
+  if (vtx.size() != 0 && polylist.size() != 0) {
+    std::cerr << "reconstruction with high lambda provided wrong result: #vtx " << vtx.size() << " expected: 0, #polys: " << polylist.size() << " expected: 0" << std::endl;
+    failed = true;
+  }
+
+  return failed ? EXIT_FAILURE : EXIT_SUCCESS;
+}