RANSAC.h File Reference

Set of functions suporting RANSAC algorithm. More...

#include <algorithm>
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include <cmath>
#include "Point.h"
#include "MathUtils.h"

Include dependency graph for RANSAC.h:

Functions
void	plane_parameters (double(&point_coord)[3][3], double(&plane)[4])
	Calculates Plane coefficients from 3 points. More...
template<typename T >
void	random_three_pnt (std::vector< T > &data, double(&ThreePoint)[3][3], double thres)
	Select 3 random points from the point list which are likely to form vertical plane. More...
template<typename T >
void	findPlanes (std::vector< T > &dataset, std::vector< std::vector< T >> &output)
	Find vertical planes in a given point cloud. More...

Detailed Description

Set of functions suporting RANSAC algorithm.

Function Documentation

template<typename T >

void findPlanes	(	std::vector< T > &	dataset,
		std::vector< std::vector< T >> &	output
	)

Find vertical planes in a given point cloud.

Template Parameters

T	Point type

Parameters

dataset	Points for plane finding
output	Vector of vectors containing each plane's points

void plane_parameters	(	double(&)	point_coord[3][3],
		double(&)	plane[4]
	)

Calculates Plane coefficients from 3 points.

Parameters

point_coord	2D Array of 3 points 3D coordinates
plane	Array of 4 plane coefficients

template<typename T >

void random_three_pnt	(	std::vector< T > &	data,
		double(&)	ThreePoint[3][3],
		double	thres
	)

Select 3 random points from the point list which are likely to form vertical plane.

Template Parameters

T	Point type

Parameters

data	Points to select from
ThreePoint	2D Array of 3D Point coordinates
thres	Minimal distance for point selection