drsrinathsridhar / gransac Goto Github PK

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

Hi, 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

On your screenshot the black dot also visible near line below green one. Maybe there some error in code.

In my opinion simple example without generic types may have more profit for understanding and usage. There much more code in model, that in GRANSAC.h. It's not bad, but start thinking do we really need this abstraction with templates.

On your screenshot the black dot also visible near line below green one. Maybe there some error in code. In my opinion simple example without generic types may have more profit for understanding and usage. There much more code in model, that in `GRANSAC.h`. It's not bad, but start thinking do we really need this abstraction with templates.

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.

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

Hello Dr. Srinath Sridhar.
Thanks for your amazing work GRANSAC, it helps me a lot.

As the title says, the return type of cv::getTickCount() should be int64, according to opencv2/core/core.hpp. Otherwise, we may find the runtime a negative value. I'm using OpenCV 2.4.10

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.