Shape_detection/efficient_RANSAC_with_callback.cpp

#if defined (_MSC_VER) && !defined (_WIN64)
#pragma warning(disable:4244) // boost::number_distance::distance()
                              // converts 64 to 32 bits integers
#endif
 
#include <fstream>
#include <iostream>
 
#include <CGAL/Timer.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 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::Plane<Traits>            Plane;
 
struct Timeout_callback {
 
  mutable int nb;
  mutable CGAL::Timer timer;
  const double limit;
 
  Timeout_callback(double limit) :
  nb(0), limit(limit) {
    timer.start();
  }
 
  bool operator()(double advancement) const {
 
    // Avoid calling time() at every single iteration, which could
    // impact performances very badly.
    ++nb;
    if (nb % 1000 != 0)
      return true;
 
    // If the limit is reached, interrupt the algorithm.
    if (timer.time() > limit) {
      std::cerr << "Algorithm takes too long, exiting ("
                << 100.0 * advancement << "% done)" << std::endl;
      return false;
    }
    return true;
  }
};
 
int main (int argc, char** argv) {
 
  std::cout << "Efficient RANSAC" << std::endl;
  const std::string filename = (argc > 1) ? argv[1] : CGAL::data_file_path("points_3/cube.pwn");
 
  Pwn_vector points;
 
  if (!CGAL::IO::read_points(
        filename,
        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;
  }
 
  Efficient_ransac ransac;
  ransac.set_input(points);
  ransac.add_shape_factory<Plane>();
 
  // Create callback that interrupts the algorithm
  // if it takes more than half a second.
  Timeout_callback timeout_callback(0.5);
 
  // Detect registered shapes with the default parameters.
  ransac.detect(Efficient_ransac::Parameters(), timeout_callback);
 
  return EXIT_SUCCESS;
}