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/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/math/ransac.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CTexturedPlane.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/random.h>
#include <mrpt/system/CTicTac.h>
#include <iostream>
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::math;
using namespace mrpt::random;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace std;
// Define as needed for your application:
using MyRansac = mrpt::math::RANSAC_Template<
float, // Numeric data type: float since pointclouds use float
mrpt::maps::CPointsMap, // Dataset type (can be an abstract base type)
mrpt::math::TPlane // Model type to be estimated
>;
namespace mrpt::math
{
// Overload for your custom dataset type:
size_t ransacDatasetSize(const mrpt::maps::CPointsMap& dataset)
{
return dataset.size();
}
} // namespace mrpt::math
void ransac3Dplane_fit(
const mrpt::maps::CPointsMap& allData,
const std::vector<size_t>& useIndices,
vector<mrpt::math::TPlane>& fitModels)
{
ASSERT_(useIndices.size() == 3);
TPoint3D pt[3];
for (int i = 0; i < 3; i++)
allData.getPoint(useIndices[i], pt[i]);
try
{
fitModels.resize(1);
fitModels[0] = TPlane(pt[0], pt[1], pt[2]);
}
catch (exception&)
{
// If the three points are degenerated, an exception may be thrown in
// the plane ctor
fitModels.clear();
return;
}
}
void ransac3Dplane_distance(
const mrpt::maps::CPointsMap& allData,
const vector<mrpt::math::TPlane>& testModels,
const double distanceThreshold, unsigned int& out_bestModelIndex,
std::vector<size_t>& out_inlierIndices)
{
ASSERT_(testModels.size() == 1);
out_bestModelIndex = 0;
const mrpt::math::TPlane& plane = testModels[0];
const size_t N = allData.size();
out_inlierIndices.clear();
out_inlierIndices.reserve(100);
for (size_t i = 0; i < N; i++)
{
mrpt::math::TPoint3D pt;
allData.getPoint(i, pt);
const double d = plane.distance(pt);
if (d < distanceThreshold) out_inlierIndices.push_back(i);
}
}
/** Return "true" if the selected points are a degenerate (invalid) case.
*/
bool ransac3Dplane_degenerate(
const mrpt::maps::CPointsMap& allData,
const std::vector<size_t>& useIndices)
{
return false;
}
// ------------------------------------------------------
// TestRANSAC
// ------------------------------------------------------
void TestRANSAC()
{
auto& rng = getRandomGenerator();
rng.randomize();
// Generate random points:
// ------------------------------------
const size_t N_plane = 300;
const size_t N_noise = 100;
const double PLANE_EQ[4] = {1, -1, 1, -2};
mrpt::maps::CSimplePointsMap data;
data.reserve(N_plane + N_noise);
for (size_t i = 0; i < N_plane; i++)
{
const double xx = rng.drawUniform(-3, 3);
const double yy = rng.drawUniform(-3, 3);
const double zz =
-(PLANE_EQ[3] + PLANE_EQ[0] * xx + PLANE_EQ[1] * yy) / PLANE_EQ[2];
data.insertPointFast(xx, yy, zz);
}
for (size_t i = 0; i < N_noise; i++)
{
data.insertPointFast(
rng.drawUniform(-4, 4), rng.drawUniform(-4, 4),
rng.drawUniform(-4, 4));
}
// Run RANSAC
// ------------------------------------
mrpt::math::TPlane best_model;
std::vector<size_t> best_inliers;
const double DIST_THRESHOLD = 0.05;
CTicTac tictac;
MyRansac myransac;
myransac.setVerbosityLevel(mrpt::system::LVL_DEBUG);
myransac.execute(
data, &ransac3Dplane_fit, &ransac3Dplane_distance,
&ransac3Dplane_degenerate, DIST_THRESHOLD,
3, // Minimum set of points
best_inliers, best_model);
cout << "Computation time: " << tictac.Tac() * 1000.0 << " ms\n";
cout << "RANSAC finished: Best model: " << best_model.coefs[0] << " "
<< best_model.coefs[1] << " " << best_model.coefs[2] << " "
<< best_model.coefs[3] << endl;
// Show GUI
// --------------------------
mrpt::gui::CDisplayWindow3D win("Set of points", 500, 500);
opengl::COpenGLScene::Ptr scene = opengl::COpenGLScene::Create();
scene->insert(opengl::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1));
scene->insert(opengl::stock_objects::CornerXYZ());
opengl::CPointCloud::Ptr points = opengl::CPointCloud::Create();
points->setColor(0, 0, 1);
points->setPointSize(3);
points->enableColorFromZ();
points->loadFromPointsMap(&data);
scene->insert(points);
opengl::CTexturedPlane::Ptr glPlane =
opengl::CTexturedPlane::Create(-4, 4, -4, 4);
glPlane->setColor_u8(mrpt::img::TColor(0xff, 0x00, 0x00, 0x80)); // RGBA
TPose3D glPlanePose;
best_model.getAsPose3D(glPlanePose);
glPlane->setPose(glPlanePose);
scene->insert(glPlane);
win.get3DSceneAndLock() = scene;
win.unlockAccess3DScene();
win.forceRepaint();
win.waitForKey();
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestRANSAC();
return 0;
}
catch (const std::exception& e)
{
std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
return -1;
}
}
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