代码语言：javascript复制
#include <fstream>
#include <iostream>
#include <CGAL/Point_set_3.h>
#include <CGAL/property_map.h>
#include <CGAL/IO/read_points.h>
#include <CGAL/Point_with_normal_3.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Shape_detection/Efficient_RANSAC.h>
// Type declarations.
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::Point_3 Point;
typedef Kernel::FT FT;
typedef std::pair<Kernel::Point_3, Kernel::Vector_3> Point_with_normal;
typedef std::vector<Point_with_normal> Pwn_vector;
typedef CGAL::First_of_pair_property_map<Point_with_normal> Point_map;
typedef CGAL::Second_of_pair_property_map<Point_with_normal> Normal_map;
typedef CGAL::Shape_detection::Efficient_RANSAC_traits
<Kernel, Pwn_vector, Point_map, Normal_map> Traits;
typedef CGAL::Shape_detection::Efficient_RANSAC<Traits> Efficient_ransac;
typedef CGAL::Shape_detection::Cone<Traits> Cone;
typedef CGAL::Shape_detection::Cylinder<Traits> Cylinder;
typedef CGAL::Shape_detection::Plane<Traits> Plane;
typedef CGAL::Shape_detection::Sphere<Traits> Sphere;
typedef CGAL::Shape_detection::Torus<Traits> Torus;
typedef CGAL::Point_set_3<Kernel::Point_3> Point_set;
int main(int argc, char** argv) {
//加载点云
Pwn_vector points;
if (!CGAL::IO::read_points(((argc > 1) ? argv[1] : CGAL::data_file_path("data/test.xyz")),
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::cout << points.size() << " points" << std::endl;
//形状检测
Efficient_ransac ransac;
ransac.set_input(points);
ransac.add_shape_factory<Plane>();
ransac.add_shape_factory<Sphere>();
ransac.add_shape_factory<Cylinder>();
ransac.add_shape_factory<Cone>();
ransac.add_shape_factory<Torus>();
// 参数设置
Efficient_ransac::Parameters parameters;
parameters.probability = 0.05;
parameters.min_points = 200;//最小点数
parameters.epsilon = 0.002;
parameters.cluster_epsilon = 0.01;
parameters.normal_threshold = 0.9;
ransac.detect(parameters);
// 输出相关信息
std::cout << ransac.shapes().end() - ransac.shapes().begin()<< " detected shapes, "<< ransac.number_of_unassigned_points()<< " unassigned points." << std::endl;
//保存
Efficient_ransac::Shape_range shapes = ransac.shapes();
Efficient_ransac::Shape_range::iterator it = shapes.begin();
int count = 0;
while (it != shapes.end()) {
if (Plane* plane = dynamic_cast<Plane*>(it->get())) {
int num = (*it)->indices_of_assigned_points().size();
Point_set cloud;
for (int i = 0; i < num; i )
{
Point temp=points[(*it)->indices_of_assigned_points()[i]].first;
cloud.insert(temp);
}
CGAL::IO::write_OFF(std::to_string(count) "plane.off",cloud);
cloud.clear();
}
else if (Cylinder* cyl = dynamic_cast<Cylinder*>(it->get())) {
int num = (*it)->indices_of_assigned_points().size();
Point_set cloud;
for (int i = 0; i < num; i )
{
Point temp = points[(*it)->indices_of_assigned_points()[i]].first;
cloud.insert(temp);
}
CGAL::IO::write_OFF(std::to_string(count) "cylinder.off", cloud);
cloud.clear();
}
else {
std::cout << (*it)->info() << std::endl;
}
it ;
count ;
}
return EXIT_SUCCESS;
}
