MtGRansac: Multi-threaded generic RANSAC implemetation

This is a header-only, multi-threaded implementation of the RANSAC algorithm, inspired by and based on GRANSAC.

Dependencies

This library uses C++11 features, so a suitable compiler is required (GCC 4.7+, Visual Studio 2013+). Additionally, OpenMP is needed for multi-threading.

Usage

Just include the header RANSAC.hpp in your application. The Model class and InputData class needs to be inherited to implement a suitable model for your application.

Example: Plane and line fitting

To demonstrate how to use the library a plane and line fitting example is included. To build this example do the following:

$ pwd
<SOME_DIR>/MtGRansac
$ mkdir build && cd build
$ cmake ../examples/
$ make

Running FittingSample should output files: "plane_random_points.txt" "plane_inlier_points.txt" "plane.txt" "line_random_points.txt" "line_inlier_points.txt" "line.txt"

The file "plane.txt" and "line.txt" save the parameters of plane and line. You can open the xxx_random_points.txt files in CloudCompare;

License

MtGRansac is released under an MIT License.

Contact

Chalie Wang ([email protected])