drsrinathsridhar / gransac Goto Github PK
View Code? Open in Web Editor NEWMulti-threaded generic RANSAC implemetation
License: MIT License
Multi-threaded generic RANSAC implemetation
License: MIT License
Hi, thanks for your plane fitting code several years ago. : )
And I wonder if we could use GRANSAC for cylinder surface fitting?
As far as I know, cylinder surface equation at least will need 1. direction vector / axis, 2. point that direction vector / axis pass through, 3. radius, at least 7 parameters?
But I dont know how to write the model.
pyRANSAC-3D has an implementation, but result is not good.
https://github.com/leomariga/pyRANSAC-3D/blob/master/pyransac3d/cylinder.py
Thank you.
Thanks for your contribution, I pulled down your code and tested it on my data;
The slope and intercept of RANSAC implemented by Pytorch are stable at
'coef': [[-4.90434043]]
intercept: [323.05705421]
The slope and intercept obtained by your code are random each time
root@9e1aa64f75aa:/work/GRANSAC/build# make -j8 && ./LineFittingSample
[100%] Built target Line Fitting Sample
[ INFO ]: Maximum usable threads: 8
RANSAC took: 29.7956 ms.
1: Pt1:(59,16), Pt2:(53,38)
slope: -3.666667, intercept: 232.333333
root@9e1aa64f75aa:/work/GRANSAC/build# make -j8 && ./LineFittingSample
[100%] Built target Line Fitting Sample
[ INFO ]: Maximum usable threads: 8
RANSAC took: 25.977 ms.
1: Pt1:(52,90), Pt2:(61,36)
slope: -6.000000, intercept: 402.000000
root@9e1aa64f75aa:/work/GRANSAC/build# make -j8 && ./LineFittingSample
[100%] Built target Line Fitting Sample
[ INFO ]: Maximum usable threads: 8
RANSAC took: 26.7776 ms.
1: Pt1:(53,69), Pt2:(62,17)
slope: -5.777778, intercept: 375.222222
root@9e1aa64f75aa:/work/GRANSAC/build# make -j8 && ./LineFittingSample
[100%] Built target Line Fitting Sample
[ INFO ]: Maximum usable threads: 8
RANSAC took: 23.9506 ms.
1: Pt1:(42,112), Pt2:(56,50)
slope: -4.428571, intercept: 298.000000
root@9e1aa64f75aa:/work/GRANSAC/build# make -j8 && ./LineFittingSample
[100%] Built target Line Fitting Sample
[ INFO ]: Maximum usable threads: 8
RANSAC took: 27.3859 ms.
1: Pt1:(49,79), Pt2:(51,62)
slope: -8.500000, intercept: 495.500000
root@9e1aa64f75aa:/work/GRANSAC/build# make -j8 && ./LineFittingSample
[100%] Built target Line Fitting Sample
[ INFO ]: Maximum usable threads: 8
RANSAC took: 29.1753 ms.
1: Pt1:(46,94), Pt2:(53,36)
slope: -8.285714, intercept: 475.142857
root@9e1aa64f75aa:/work/GRANSAC/build# make -j8 && ./LineFittingSample
[100%] Built target Line Fitting Sample
[ INFO ]: Maximum usable threads: 8
RANSAC took: 23.9844 ms.
1: Pt1:(54,56), Pt2:(61,6)
slope: -7.142857, intercept: 441.714286
Thanks for your line fitting example, and it works well.
I tried to write a plane fitting program in 3d just like line fitting in 2d.
Unfortunately, I could not do that successfully till now.
If you have ever tried this before, could please show the example to do this?
Thanks.
Hello Dr. Srinath Sridhar.
Thanks for your amazing work GRANSAC, it helps me a lot.
GRANSAC/examples/LineFittingSample.cpp
Line 66 in 2e715f2
cv::getTickCount()
should be int64
, according to opencv2/core/core.hpp. Otherwise, we may find the runtime a negative value. I'm using OpenCV 2.4.10Hi, and thank you for making this code available. I am looking for a very fast way to match points between two point clouds, would this lib be suitable?
Is there any example code around for this kind of task?
Thanks again
Hi,
Thank you for GRANSAC. It is running successfully on my system.
I want to study GRANSAC in more detail. Could you please give me a link or document to study mainly about GRANSAC.
Thank you
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