CGAL Ransac拟合平面代码

下面是使用CGAL库实现RANSAC拟合平面的示例代码：

#include <iostream>
#include <cstdlib>
#include <vector>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Plane_3.h>
#include <CGAL/Random.h>
#include <CGAL/algorithm.h>
#include <CGAL/point_generators_3.h>
#include <CGAL/Timer.h>

typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::Point_3 Point_3;
typedef Kernel::Plane_3 Plane_3;

int main(int argc, char* argv[])
{
  // Generate random points
  int num_points = 1000000;
  std::vector<Point_3> points;
  points.reserve(num_points);
  CGAL::Random rand(42);
  std::cout << "Generating " << num_points << " random points..." << std::endl;
  CGAL::Timer timer;
  timer.start();
  CGAL::Random_points_in_cube_3<Point_3> gen(1.0);
  for (int i = 0; i < num_points; ++i)
    points.push_back(*gen++);
  timer.stop();
  std::cout << "Time to generate points: " << timer.time() << " seconds" << std::endl;

  // Set up RANSAC parameters
  double threshold = 0.1; // maximum distance from point to plane to be considered an inlier
  int max_iterations = 1000; // maximum number of iterations to run RANSAC
  int min_inliers = 100; // minimum number of inliers to consider the result valid

  // Run RANSAC
  std::cout << "Running RANSAC..." << std::endl;
  timer.reset();
  timer.start();
  Plane_3 best_fit;
  int best_num_inliers = 0;
  for (int i = 0; i < max_iterations; ++i)
  {
    // Select three random points
    std::vector<Point_3> sample;
    for (int j = 0; j < 3; ++j)
      sample.push_back(points[rand.get_int(0, num_points-1)]);

    // Fit plane to sample
    Plane_3 plane(sample[0], sample[1], sample[2]);

    // Count inliers
    int num_inliers = 0;
    for (int j = 0; j < num_points; ++j)
    {
      if (CGAL::squared_distance(points[j], plane) < threshold*threshold)
        ++num_inliers;
    }

    // Update best fit if this one is better
    if (num_inliers > best_num_inliers)
    {
      best_fit = plane;
      best_num_inliers = num_inliers;
    }

    // Stop early if we have enough inliers
    if (best_num_inliers >= min_inliers)
      break;
  }
  timer.stop();
  std::cout << "Time to run RANSAC: " << timer.time() << " seconds" << std::endl;

  // Output result
  std::cout << "Best fit plane: " << best_fit << std::endl;
  std::cout << "Number of inliers: " << best_num_inliers << std::endl;

  return 0;
}

该代码生成了一百万个随机点，然后使用RANSAC算法拟合平面，并输出最佳拟合平面及其所包含的内点数。您可以根据需要修改代码以适应自己的应用场景。