xmba15/ransac_lines_fitting_gpu

simple GPU ransac fitting of multiple lines on 2d/3d point cloud

📝 gpu RANSAC fitting of 2D/3D multiple lines

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🎉 TODO

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• gpu multi-ransac fitting of multiple lines
• test on 2d, 3d data

🎛 Dependencies

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sudo apt-get install \
    libpcl-dev \
    libopencv-dev

• CUDA toolkits (tested on cuda 10.2)

🔨 How to Build

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make default # to build the library
make apps # to build the examples

🏃 How to Run

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# test 2d data
./build/examples/2d_lines_fitting_app ./data/sample_2d.pcd

# test 3d data
./build/examples/3d_lines_fitting_app ./data/sample_3d.pcd

• Download sample for 2d point-cloud data for more tests on 2d data

ransac_lines_fitting_gpu's Issues

sacmodel_line coefficient

Hi bro! what are the coefficients of the sacmodel_line? I don't understand and how to solve it.

pcl::ModelCoefficients::Ptr coeffs(new pcl::ModelCoefficients);
coeffs->values.reserve(6);
std::copy(cudaLineSegment.coeffs.p.begin(), cudaLineSegment.coeffs.p.end(), std::back_inserter(coeffs->values));
std::copy(cudaLineSegment.coeffs.d.begin(), cudaLineSegment.coeffs.d.end(), std::back_inserter(coeffs->values));

perception::cuda::LineSegment lineSegment;
lineSegment.coeffs.p = {hostCoeffs.p.x, hostCoeffs.p.y, 0};
lineSegment.coeffs.d = {hostCoeffs.d.x, hostCoeffs.d.y, 0};
lineSegment.inlierIndices = std::move(hostInlierIndicesV[i]);
result.emplace_back(std::move(lineSegment));

code bug

Hello, I want to convert this code to the windows system, but in the sacmodel code of cuda, the array is out of bounds, in these two lines，请问您知道怎么回事吗
samples.x = indices[(int)(rng() * trand)];
samples.y = indices[(int)(rng() * trand)];

consult

Hello brother, I would like to ask, why some lines are not fitted when this method is used to fit my own point cloud, how should I adjust