mirror of https://github.com/CGAL/cgal
88 lines
2.6 KiB
C++
88 lines
2.6 KiB
C++
#if defined (_MSC_VER) && !defined (_WIN64)
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#pragma warning(disable:4244) // boost::number_distance::distance()
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// converts 64 to 32 bits integers
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#endif
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#include <fstream>
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#include <iostream>
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#include <CGAL/Timer.h>
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#include <CGAL/property_map.h>
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#include <CGAL/IO/read_points.h>
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#include <CGAL/Point_with_normal_3.h>
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#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
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#include <CGAL/Shape_detection/Efficient_RANSAC.h>
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// Type declarations.
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typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
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typedef std::pair<Kernel::Point_3, Kernel::Vector_3> Point_with_normal;
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typedef std::vector<Point_with_normal> Pwn_vector;
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typedef CGAL::First_of_pair_property_map<Point_with_normal> Point_map;
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typedef CGAL::Second_of_pair_property_map<Point_with_normal> Normal_map;
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typedef CGAL::Shape_detection::Efficient_RANSAC_traits
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<Kernel, Pwn_vector, Point_map, Normal_map> Traits;
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typedef CGAL::Shape_detection::Efficient_RANSAC<Traits> Efficient_ransac;
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typedef CGAL::Shape_detection::Plane<Traits> Plane;
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struct Timeout_callback {
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mutable int nb;
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mutable CGAL::Timer timer;
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const double limit;
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Timeout_callback(double limit) :
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nb(0), limit(limit) {
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timer.start();
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}
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bool operator()(double advancement) const {
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// Avoid calling time() at every single iteration, which could
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// impact performances very badly.
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++nb;
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if (nb % 1000 != 0)
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return true;
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// If the limit is reached, interrupt the algorithm.
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if (timer.time() > limit) {
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std::cerr << "Algorithm takes too long, exiting ("
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<< 100.0 * advancement << "% done)" << std::endl;
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return false;
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}
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return true;
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}
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};
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int main (int argc, char** argv) {
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std::cout << "Efficient RANSAC" << std::endl;
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const std::string filename = (argc > 1) ? argv[1] : CGAL::data_file_path("points_3/cube.pwn");
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Pwn_vector points;
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if (!CGAL::IO::read_points(
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filename,
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std::back_inserter(points),
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CGAL::parameters::point_map(Point_map()).
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normal_map(Normal_map()))) {
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std::cerr << "Error: cannot read file cube.pwn!" << std::endl;
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return EXIT_FAILURE;
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}
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Efficient_ransac ransac;
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ransac.set_input(points);
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ransac.add_shape_factory<Plane>();
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// Create callback that interrupts the algorithm
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// if it takes more than half a second.
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Timeout_callback timeout_callback(0.5);
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// Detect registered shapes with the default parameters.
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ransac.detect(Efficient_ransac::Parameters(), timeout_callback);
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return EXIT_SUCCESS;
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}
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