/* +---------------------------------------------------------------------------+ | The Mobile Robot Programming Toolkit (MRPT) C++ library | | | | http://mrpt.sourceforge.net/ | | | | Copyright (C) 2005-2010 University of Malaga | | | | This software was written by the Machine Perception and Intelligent | | Robotics Lab, University of Malaga (Spain). | | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | | | | This file is part of the MRPT project. | | | | MRPT is free software: you can redistribute it and/or modify | | it under the terms of the GNU General Public License as published by | | the Free Software Foundation, either version 3 of the License, or | | (at your option) any later version. | | | | MRPT is distributed in the hope that it will be useful, | | but WITHOUT ANY WARRANTY; without even the implied warranty of | | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | | GNU General Public License for more details. | | | | You should have received a copy of the GNU General Public License | | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | | | +---------------------------------------------------------------------------+ */ #include <mrpt/slam.h> using namespace mrpt; using namespace mrpt::utils; using namespace mrpt::gui; using namespace mrpt::math; using namespace mrpt::random; using namespace std; mrpt::gui::CDisplayWindow3DPtr win; // ------------------------------------------------------ // TestRANSACPlanes // ------------------------------------------------------ void TestRANSACPlanes() { randomGenerator.randomize(); // Generate random points: // ------------------------------------ const size_t N_PLANES = 3; const size_t N_plane = 300; const size_t N_noise = 300; const double PLANE_EQ[N_PLANES][4]={ { 1,-1,1, -2 }, { 1,+1.5, 1, -1 }, { 0,-1,1, +2 } }; vector_double xs,ys,zs; for (size_t p=0;p<N_PLANES;p++) { for (size_t i=0;i<N_plane;i++) { const double xx = randomGenerator.drawUniform(-3,3) + 5*cos(0.4*p); const double yy = randomGenerator.drawUniform(-3,3) + 5*sin(0.4*p); const double zz = -(PLANE_EQ[p][3]+PLANE_EQ[p][0]*xx+PLANE_EQ[p][1]*yy)/PLANE_EQ[p][2]; xs.push_back(xx); ys.push_back(yy); zs.push_back(zz); } } for (size_t i=0;i<N_noise;i++) { xs.push_back( randomGenerator.drawUniform(-7,7)); ys.push_back( randomGenerator.drawUniform(-7,7)); zs.push_back( randomGenerator.drawUniform(-7,7)); } // Run RANSAC // ------------------------------------ vector<pair<size_t,TPlane> > detectedPlanes; const double DIST_THRESHOLD = 0.05; CTicTac tictac; ransac_detect_3D_planes(xs,ys,zs,detectedPlanes,DIST_THRESHOLD,40 ); // Display output: cout << "RANSAC method: ransac_detect_3D_planes" << endl; cout << " Computation time: " << tictac.Tac()*1000.0 << " ms" << endl; cout << " " << detectedPlanes.size() << " planes detected." << endl; // Show GUI // -------------------------- win = mrpt::gui::CDisplayWindow3DPtr( new mrpt::gui::CDisplayWindow3D("RANSAC: 3D planes", 500,500)); opengl::COpenGLScenePtr scene = opengl::COpenGLScene::Create(); scene->insert( opengl::CGridPlaneXY::Create(-20,20,-20,20,0,1) ); scene->insert( opengl::stock_objects::CornerXYZ() ); for (vector<pair<size_t,TPlane> >::iterator p=detectedPlanes.begin();p!=detectedPlanes.end();++p) { opengl::CTexturedPlanePtr glPlane = opengl::CTexturedPlane::Create(-10,10,-10,10); CPose3D glPlanePose; p->second.getAsPose3D( glPlanePose ); glPlane->setPose(glPlanePose); glPlane->setColor( randomGenerator.drawUniform(0,1), randomGenerator.drawUniform(0,1),randomGenerator.drawUniform(0,1), 0.6); scene->insert( glPlane ); } { opengl::CPointCloudPtr points = opengl::CPointCloud::Create(); points->setColor(0,0,1); points->setPointSize(3); points->enableColorFromZ(); metaprogramming::copy_container_typecasting(xs,points->getArrayX()); metaprogramming::copy_container_typecasting(ys,points->getArrayY()); metaprogramming::copy_container_typecasting(zs,points->getArrayZ()); scene->insert( points ); } win->get3DSceneAndLock() = scene; win->unlockAccess3DScene(); win->forceRepaint(); win->waitForKey(); } // ------------------------------------------------------ // TestRANSACLines // ------------------------------------------------------ void TestRANSACLines() { randomGenerator.randomize(); // Generate random points in 2D // ------------------------------------ const size_t N_LINES = 4; const size_t N_line = 30; const size_t N_noise = 50; const double LINE_EQ[N_LINES][3]={ { 1,-1, -2 }, { 1,+1.5, -1 }, { 0,-1, +2 }, { 0.5,-0.3, +1 } }; vector_double xs,ys; for (size_t p=0;p<N_LINES;p++) { for (size_t i=0;i<N_line;i++) { const double xx = randomGenerator.drawUniform(-10,10); const double yy = randomGenerator.drawGaussian1D(0,0.05) -(LINE_EQ[p][2]+LINE_EQ[p][0]*xx)/LINE_EQ[p][1]; xs.push_back(xx); ys.push_back(yy); } } for (size_t i=0;i<N_noise;i++) { xs.push_back( randomGenerator.drawUniform(-15,15)); ys.push_back( randomGenerator.drawUniform(-15,15)); } // Run RANSAC // ------------------------------------ vector<pair<size_t,TLine2D > > detectedLines; const double DIST_THRESHOLD = 0.2; CTicTac tictac; ransac_detect_2D_lines(xs,ys,detectedLines,DIST_THRESHOLD,20 ); // Display output: cout << "RANSAC method: ransac_detect_2D_lines" << endl; cout << " Computation time: " << tictac.Tac()*1000.0 << " ms" << endl; cout << " " << detectedLines.size() << " lines detected." << endl; // Show GUI // -------------------------- mrpt::gui::CDisplayWindowPlots win2("Set of points", 500,500); win2.plot(xs,ys,".b4","points"); unsigned int n=0; for (vector<pair<size_t,TLine2D> >::iterator p=detectedLines.begin();p!=detectedLines.end();++p) { vector_double lx(2),ly(2); lx[0] = -15; lx[1] = 15; for (size_t q=0;q<lx.size();q++) ly[q] = -(p->second.coefs[2]+p->second.coefs[0]*lx[q])/p->second.coefs[1]; win2.plot(lx,ly,"r-1",format("line_%u",n++)); } win2.axis_fit(); win2.axis_equal(); win2.waitForKey(); } // ------------------------------------------------------ // MAIN // ------------------------------------------------------ int main() { try { TestRANSACPlanes(); cout << endl << "Now running detection of lines..." << endl << endl; TestRANSACLines(); win.clear(); return 0; } catch (std::exception &e) { std::cout << "MRPT exception caught: " << e.what() << std::endl; return -1; } catch (...) { printf("Untyped exception!!"); return -1; } }