test_point_cloud_normal_wpca.inl

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// Copyright (c) 2012-2019 University of Lyon and CNRS (France).
// All rights reserved.
//
// This file is part of MEPP2; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as
// published by the Free Software Foundation; either version 3 of
// the License, or (at your option) any later version.
//
// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 
#include "FEVV/Filters/Generic/PointCloud/WeightedPCANormals/point_cloud_normal_wpca.hpp"
 
#include "Testing/Utils/utils_identical_text_based_files.hpp"
 
#include <string>
 
  template< typename PointCloud >
int test_point_cloud_normal_wpca(int argc, const char **argv)
{
  if (argc != 6 && argc != 7)
  {
    std::cout<<std::endl;
    printf("./normal_estimation [input pointcloud] [output_pointcloud.ply]  [number of neighbors] [noise] [curvature] [OPTIONNAL:reference_file]\n");
    printf("Estimated noise (m),\n \t example : 0.0001 \n");
    printf("Min tolerated curvature radius (m) \n \t example for curved objects = 0.1 \n \t for intersecting planes = 10000000000\n");
    printf("It is recommended to scale the objects (for diagonal to be 1) to better parameterize the min tolerated curvature radius\n");
 
    std::cout << "Examples: \n"
      << argv[0] << "  casting.xyz  casting.curvature.ply 10 0 0.01 casting.curvature.ref.ply\n"
      << std::endl;
    return EXIT_FAILURE;
  }
  else
  {
    // display parameters summary
    std::cout << "\nParameters summary:" << std::endl;
    std::cout<<std::endl;
    for (int i = 1 ; i<argc; i++)
      std::cout<<argv[i]<<"   ";
    std::cout<<std::endl<<std::endl;
  }
 
  // input and output files
  std::string input_file_path = argv[1];
  std::string output_file_path = argv[2];
 
  // read mesh from file
  PointCloud cloud;
  FEVV::PMapsContainer pmaps_bag;
  FEVV::Filters::read_mesh(input_file_path, cloud, pmaps_bag);
 
  // Note: the property maps must be extracted from the
  //       property maps bag, and explicitely passed as
  //       parameters to the filter, in order to make
  //       clear what property is used by the filter
 
  // retrieve or create vertex-normal property map
  using VertexNormalMap =
    typename FEVV::PMap_traits< FEVV::vertex_normal_t, PointCloud >::pmap_type;
  VertexNormalMap v_nm;
  if(has_map(pmaps_bag, FEVV::vertex_normal))
  {
    std::cout << "use existing vertex-normal map" << std::endl;
    v_nm = get_property_map(FEVV::vertex_normal, cloud, pmaps_bag);
  }
  else
  {
    std::cout << "create vertex-normal map" << std::endl;
    v_nm = make_property_map(FEVV::vertex_normal, cloud);
    // store property map in property maps bag
    put_property_map(FEVV::vertex_normal, cloud, pmaps_bag, v_nm);
  }
 
  // retrieve point property map (aka geometry)
  auto pm = get(boost::vertex_point, cloud);
 
  // apply filter
  int n_neigh = static_cast<int>(atoi(argv[3]));
  float noise = static_cast<float>(atof(argv[4])/sqrt(3));
  noise = std::max(noise, 0.000001f);
  float curvature = static_cast<float>(atof(argv[5]));
  FEVV::Filters::compute_weighted_pca(cloud, pm, v_nm, n_neigh, noise, curvature);
 
  //std::string output_file_path = create_output_name(input_file_path, "weightedPCA", n_neigh, "pcd");
 
  // save the point cloud
  std::cout << "saving point cloud with normals to " << output_file_path
            << std::endl;
  FEVV::Filters::write_mesh(output_file_path, cloud, pmaps_bag);
 
  // check output file
  std::string reference_file_path;
  if(argc == 7)
    reference_file_path = argv[6];
 
  if(!reference_file_path.empty())
  {
    std::cout << "Comparing output file" << std::endl;
    std::cout << "  '" << output_file_path << "'" << std::endl;
    std::cout << "with reference file" << std::endl;
    std::cout << "  '" << reference_file_path << "'" << std::endl;
    std::cout << "..." << std::endl;
 
    // use text file comparator
    if(!identical_text_based_files(output_file_path, reference_file_path))
    {
      std::cout << "Files are different!" << std::endl;
      return EXIT_FAILURE;
    }
 
    std::cout << "Files are identical." << std::endl;
  }
 
  return 0;
}