public static void SavePlaneToFile(RansacPlane rp, string dir, string filename)
{
string fullPathToFile = Path.Combine(dir, filename);
StreamWriter writer = new StreamWriter(fullPathToFile);
writer.Write(rp.BestModel.ToString());
writer.Close();
}
public static RansacPlane ReadPlaneFromFile(string dir, string filename)
{
// Parse
string fullPathToFile = Path.Combine(dir, filename);
StreamReader reader = new StreamReader(fullPathToFile);
//CultureInfo ci = (CultureInfo)CultureInfo.CurrentCulture.Clone();
//ci.NumberFormat.CurrencyDecimalSeparator = ".";
string line;
int counter = 0;
float probability = 0;
List <Vector3> points = new List <Vector3>();
while ((line = reader.ReadLine()) != null)
{
counter++;
// Probability row
if (counter == 1)
{
probability = float.Parse(line, CultureInfo.InvariantCulture);
continue;
}
// Number of elemnts row
// not use
if (counter == 2)
{
continue;
}
char[] delimiter = new char[] { '\t' };
string[] row = line.Split(delimiter);
Vector3 point = new Vector3();
point.X = float.Parse(row[0], CultureInfo.InvariantCulture);
point.Y = float.Parse(row[1], CultureInfo.InvariantCulture);
point.Z = float.Parse(row[2], CultureInfo.InvariantCulture);
points.Add(point);
}
// Solve
RansacPlane rp = new RansacPlane();
rp.Threshold = probability;
rp.Estimate(points);
return(rp);
}
public void RansacPlaneConstructorTest2()
{
Point3[] points =
{
new Point3(1, 1, 1),
new Point3(2, 3, 4),
new Point3(4, 6, 9),
new Point3(2, 2, 3)
};
RansacPlane target = new RansacPlane(0.80, 0.9);
Plane plane = target.Estimate(points);
var normal = plane.Normal / plane.Normal.Max;
double d = plane.DistanceToPoint(Point3.Origin);
Assert.AreEqual(normal.X, 1, 1e-4);
Assert.AreEqual(normal.Y, 1, 1e-4);
Assert.AreEqual(normal.Z, -1, 1e-4);
Assert.AreEqual(plane.Offset, -d, 1e-4);
}
static void DemoStaticTest()
{
RansacPlane rp = new RansacPlane();
rp.Estimate(RansacPlane.GetTestA1());
System.Console.Write("A1: ");
System.Console.WriteLine(rp.BestModel.ToString());
System.Console.WriteLine("===========================================================================");
rp.Estimate(RansacPlane.GetTestA2());
System.Console.Write("A2: ");
System.Console.WriteLine(rp.BestModel.ToString());
System.Console.WriteLine("===========================================================================");
rp.Estimate(RansacPlane.GetTestA3());
System.Console.Write("A3: ");
System.Console.WriteLine(rp.BestModel.ToString());
System.Console.WriteLine("===========================================================================");
System.Console.ReadKey();
}
public void RansacPlaneConstructorTest()
{
Accord.Math.Tools.SetupGenerator(0);
{
Point3[] points = new Point3[300];
int c = 0;
for (int i = 0; i < points.Length / 3; i++)
{
points[c++] = new Point3((float)i, (float)0, (float)0);
points[c++] = new Point3((float)0, (float)i, (float)0);
points[c++] = new Point3((float)i, (float)i, (float)0);
}
RansacPlane target = new RansacPlane(0.80, 0.9);
Plane expected = Plane.FromPoints(points[3], points[4], points[5]);
Plane actual = target.Estimate(points);
Assert.AreEqual(actual.A, 0);
Assert.AreEqual(actual.B, 0);
Assert.AreEqual(actual.C, -1);
Assert.AreEqual(actual.Offset, 0);
Assert.IsTrue(expected.Equals(actual, 1e-3));
}
{
Point3[] points = new Point3[300];
int c = 0;
for (int i = 0; i < points.Length / 3; i++)
{
points[c++] = new Point3((float)i, (float)0, (float)50);
points[c++] = new Point3((float)0, (float)i, (float)50);
points[c++] = new Point3((float)i, (float)i, (float)50);
}
RansacPlane target = new RansacPlane(0.80, 0.9);
Plane expected = Plane.FromPoints(points[6], points[7], points[8]);
expected.Normalize();
Plane actual = target.Estimate(points);
Assert.AreEqual(actual.A, 0);
Assert.AreEqual(actual.B, 0, 1e-5);
Assert.AreEqual(actual.C, -1, 1e-5);
Assert.AreEqual(actual.Offset, 50, 1e-4);
Assert.IsTrue(expected.Equals(actual, 1e-3));
}
{
Point3[] points = new Point3[10 * 10];
int c = 0;
for (int i = 0; i < 10; i++)
{
for (int j = 0; j < 10; j++)
{
double x = i + 5 * Accord.Math.Tools.Random.NextDouble();
double y = j + 5 * Accord.Math.Tools.Random.NextDouble();
double z = x + y - 1;
points[c++] = new Point3((float)x, (float)z, (float)y);
}
}
RansacPlane target = new RansacPlane(0.80, 0.9);
Plane actual = target.Estimate(points);
var normal = actual.Normal / actual.Normal.Max;
Assert.AreEqual(normal.X, +1, 1e-5);
Assert.AreEqual(normal.Y, -1, 1e-5);
Assert.AreEqual(normal.Z, +1, 1e-5);
}
}
