RANSAC Machine--C++ code

最新推荐文章于 2023-11-15 07:00:00 发布

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最新推荐文章于 2023-11-15 07:00:00 发布

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文章标签： c++ 迭代 RANSAC

本文链接：https://blog.youkuaiyun.com/fengdingha/article/details/22285147

本文介绍了一种基于RANSAC算法的实现方法，用于从三维点云数据中检测并拟合椭圆。通过随机抽样一致性算法筛选出符合椭圆模型的数据点，以提高检测准确性。

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vector<CvPoint3D32f> MachineVisionDetection::RansacMachine(vector<CvPoint3D32f> SourcePoint,int k)
{
  int index1,index2,index3;
  int iterations=0;//迭代标记
  double Len=0;
  vector<double> Dist;
  StereoEllipse result1;
  vector<CvPoint3D32f> TestData(3);
  vector<CvPoint3D32f> ReturnPoint;
  int countnum = SourcePoint.size();
  while(!iterations)
  {
       index1=rand()%countnum;
       index2=index1;
       index3=index1;
       if(abs(index1-index2)<15&&abs(index1-index3)&&abs(index2-index3))
       {
        index2=rand()%countnum;
        index3=rand()%countnum;
        }
    TestData[0]=SourcePoint[index1];
    TestData[1]=SourcePoint[index2];
    TestData[2]=SourcePoint[index3];
    result1=fitStereoEllipse(TestData);
    CvPoint3D32f pointcenter;
    pointcenter=result1.center;
    for(int i=0;i<countnum;i++)
    {
     Dist[i]=cv::sqrt((SourcePoint[i].x-pointcenter.x)*(SourcePoint[i].x-pointcenter.x)+
                   (SourcePoint[i].y-pointcenter.y)*(SourcePoint[i].y-pointcenter.y)+
             (SourcePoint[i].z-pointcenter.z)*(SourcePoint[i].z-pointcenter.z));
    }
    int j=0;
    for(int i=0;i<countnum;i++)
    {
      Len=abs(Dist[i]-result1.r);
      if(Len<0.15*result1.r)
      {
       ReturnPoint[j]=SourcePoint[i];
       j++;
      }
    }
    int no=ReturnPoint.size();
    if(no>0.8*countnum)
    {
           iterations=1;
    }
  }
  return ReturnPoint;
}