Sven Oesau, Yannick Verdie, Clément Jamin, Pierre Alliez, Florent Lafarge, Simon Giraudot, Thien Hoang, and Dmitry Anisimov
This CGAL package implements the Efficient RANSAC (RANdom SAmple Consensus) approach for detecting arbitrary shapes in an unorganized point set with unoriented normals and the Region Growing approach for detecting shapes in a set of arbitrary items. With the Efficient RANSAC approach, five canonical shapes can be detected: planes, spheres, cylinders, cones, and tori. Additional shapes can be detected, given a custom shape class by the user. For the Region Growing approach, CGAL provides three particular shape detection components: detecting lines in a 2D point set, detecting planes in a 3D point set, and detecting planes on a polygon mesh.
Efficient RANSAC
Concepts
Algorithm
Shapes
Shape Interface
Property Maps
Region Growing
Concepts
Algorithm
Point Set
CGAL::Shape_detection::Point_set::K_neighbor_query<GeomTraits, InputRange, PointMap>CGAL::Shape_detection::Point_set::Sphere_neighbor_query<GeomTraits, InputRange, PointMap>CGAL::Shape_detection::Point_set::Least_squares_line_fit_region<GeomTraits, InputRange, PointMap, NormalMap>CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region<GeomTraits, InputRange, PointMap, NormalMap>CGAL::Shape_detection::Point_set::Least_squares_line_fit_sorting<GeomTraits, InputRange, NeighborQuery, PointMap>CGAL::Shape_detection::Point_set::Least_squares_plane_fit_sorting<GeomTraits, InputRange, NeighborQuery, PointMap>
Polygon Mesh
Deprecated Components
Functions
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| template<typename PointRange , typename PointMap , typename PlaneRange , typename PlaneMap , typename IndexMap , typename Kernel > |
| void | CGAL::regularize_planes (const PointRange &points, PointMap point_map, PlaneRange &planes, PlaneMap plane_map, IndexMap index_map, const Kernel &, bool regularize_parallelism, bool regularize_orthogonality, bool regularize_coplanarity, bool regularize_axis_symmetry, double tolerance_angle=25.0, double tolerance_coplanarity=0.01, typename Kernel::Vector_3 symmetry_direction=typename Kernel::Vector_3(0.0, 0.0, 1.0)) |
| | Given a set of detected planes with their corresponding inlier sets, this function enables to regularize the planes: More...
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◆ regularize_planes()
template<typename PointRange , typename PointMap , typename PlaneRange , typename PlaneMap , typename IndexMap , typename Kernel >
| void CGAL::regularize_planes |
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const PointRange & |
points, |
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PointMap |
point_map, |
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PlaneRange & |
planes, |
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PlaneMap |
plane_map, |
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IndexMap |
index_map, |
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const Kernel & |
, |
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bool |
regularize_parallelism, |
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bool |
regularize_orthogonality, |
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bool |
regularize_coplanarity, |
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bool |
regularize_axis_symmetry, |
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double |
tolerance_angle = 25.0, |
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double |
tolerance_coplanarity = 0.01, |
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typename Kernel::Vector_3 |
symmetry_direction = typename Kernel::Vector_3 (0.0, 0.0, 1.0) |
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) |
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#include <CGAL/Regularization/regularize_planes.h>
Given a set of detected planes with their corresponding inlier sets, this function enables to regularize the planes:
- Planes near parallel can be made exactly parallel;
- Planes near orthogonal can be made exactly orthogonal;
- Planes parallel and near coplanar can be made exactly coplanar;
- Planes near symmetrical with a user-defined axis can be made exactly symmetrical.
Planes are directly modified. Points are left unaltered, as well as their relationships to planes (no transfer of point from a primitive plane to another).
The implementation follows [5].
- Template Parameters
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| PointRange | must be a model of ConstRange with points. |
| PointPMap | must be a model of ReadablePropertyMap with value type Kernel::Point_3. It can be omitted if the value type of the iterator of PointRange is convertible to Point_3<Kernel>. |
| PlaneRange | must be a model of Range with planes. |
| PlaneMap | must be a model of WritablePropertyMap with value type Kernel::Plane_3. It can be omitted if the value type of the iterator of PlaneRange is convertible to Plane_3<Kernel>. |
| IndexMap | must be a model of ReadablePropertyMap with value type int. |
| Kernel | must be a geometric traits class. It can be omitted and deduced automatically from the value type of PointMap. |
- Parameters
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| points | ConstRange of points |
| point_map | property map: value_type of typename PointRange::const_iterator -> Point_3 |
| planes | range of planes |
| plane_map | property map: value_type of typename PlaneRange::iterator -> Plane_3 |
| index_map | property map: index of point std::size_t -> index of plane int (-1 if the point is not assigned to a plane) |
| regularize_parallelism | select whether parallelism is regularized or not |
| regularize_orthogonality | select whether orthogonality is regularized or not |
| regularize_coplanarity | select whether coplanarity is regularized or not |
| regularize_axis_symmetry | select whether axis symmetry is regularized or not |
| tolerance_angle | tolerance of deviation between normal vectors of planes (in degrees) used for parallelism, orthogonality, and axis symmetry. Default value is 25 degrees. |
| tolerance_coplanarity | maximal distance between two parallel planes such that they are considered coplanar. Default value is 0.01. |
| symmetry_direction | chosen axis for symmetry regularization. Default value is the Z axis. |
- Examples
- Shape_detection/efficient_RANSAC_and_plane_regularization.cpp.
1.8.17