public unsafe void PlanarSegmentationTutorialTest()
{
using (var cloud = new PointCloudOfXYZ())
{
cloud.Width = 15;
cloud.Height = 1;
cloud.Points.Resize(cloud.Width * cloud.Height);
for (var i = 0; i < cloud.Points.Count; i++)
{
(cloud.Data + i)->X = 1024 * rand();
(cloud.Data + i)->Y = 1024 * rand();
(cloud.Data + i)->Z = 1;
}
//set a few outliers
(cloud.Data + 0)->Z = 2f;
(cloud.Data + 3)->Z = -2f;
(cloud.Data + 6)->Z = 4f;
using (var seg = new SACSegmentationOfXYZ())
using (var inliers = new PointIndices())
using (var coefficients = new ModelCoefficients())
{
seg.OptimizeCoefficients = true;
seg.ModelType = SACModel.Plane;
seg.MethodType = SACMethod.RANSAC;
seg.DistanceThreshold = 0.01;
seg.SetInputCloud(cloud);
seg.Segment(inliers, coefficients);
if (inliers.Indices.Count == 0)
{
Assert.Fail("Could not estimate a planar model for the given dataset");
}
Assert.AreEqual(4, coefficients.Values.Count);
Assert.AreEqual(0, coefficients.Values[0]);
Assert.AreEqual(0, coefficients.Values[1]);
Assert.AreEqual(1, coefficients.Values[2]);
Assert.AreEqual(-1, coefficients.Values[3]);
Console.WriteLine($"Model inliers: {inliers.Indices.Count}");
}
}
}
public override void Segment(PointIndices inliers, ModelCoefficients coefficients)
{
Invoke.segmentation_sacsegmentation_xyz_segment(_ptr, inliers, coefficients);
}
public abstract void Segment(PointIndices inliers, ModelCoefficients coefficients);
