
#include <RansacShapeDetector.h>
#include <PlanePrimitiveShapeConstructor.h>
#include <CylinderPrimitiveShapeConstructor.h>
#include <SpherePrimitiveShapeConstructor.h>
#include <ConePrimitiveShapeConstructor.h>
#include <TorusPrimitiveShapeConstructor.h>
Functions  
detector  Add (new PlanePrimitiveShapeConstructor()) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;LOSS OF USE, DATA, OR PROFITS;OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen  Schnabel (schnabel @cs.unibonn.de) The library has been tested using Visual Studio 2005 but it should work with gcc under Linux as well 2. License &disclaimer. Copyright 2009 Ruwen Schnabel(schnabel @cs.unibonn.de) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN STRICT OR  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland  Wahl (wahl @cs.unibonn.de). This software may be used for research purposes only. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES 
Variables  
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN  CONTRACT 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape  Detection 
RansacShapeDetector  detector (ransacOptions) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY  DIRECT 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY  EXEMPLARY 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics  Forum 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY  INCIDENTAL 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland  INCLUDING 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY  INDIRECT 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN STRICT  LIABILITY 
ransacOptions  m_bitmapEpsilon = .02f * pc.getScale() 
ransacOptions  m_epsilon = .01f * pc.getScale() 
ransacOptions  m_minSupport = 500 
ransacOptions  m_normalThresh = .9f 
ransacOptoins  m_probability = .001f 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics  No 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics  pages 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN STRICT OR EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Example usage This section shows how to use the library to detect the shapes in a point cloud PointCloud  pc 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell  Publishing 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send  questions 
RansacShapeDetector::Options  ransacOptions 
size_t  remaining = detector.Detect(pc, 0, pc.size(), &shapes) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R  Schnabel 
MiscLib::Vector< std::pair< MiscLib::RefCountPtr< PrimitiveShape >, size_t > >  shapes 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY  SPECIAL 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED  TO 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics  Vol 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R  Wahl 
detector Add  (  new  PlanePrimitiveShapeConstructor()  ) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL DAMAGES  (  INCLUDING  , 
BUT NOT LIMITED  TO,  
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;LOSS OF  USE,  
DATA  ,  
OR PROFITS;OR BUSINESS  INTERRUPTION  
) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Schnabel  (  schnabel @cs.unibonn.  de  )  & 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN STRICT OR TORT  (  INCLUDING NEGLIGENCE OR  OTHERWISE  ) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland Wahl  (  wahl @cs.unibonn.  de  ) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN CONTRACT 
Definition at line 50 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape Detection 
Definition at line 20 of file ReadMe.txt.
RansacShapeDetector detector(ransacOptions) 
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT 
Definition at line 46 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY EXEMPLARY 
Definition at line 47 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Forum 
Definition at line 21 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY INCIDENTAL 
Definition at line 46 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland INCLUDING 
Definition at line 43 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY INDIRECT 
Definition at line 46 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN STRICT LIABILITY 
Definition at line 50 of file ReadMe.txt.
ransacOptions m_bitmapEpsilon = .02f * pc.getScale() 
Definition at line 77 of file ReadMe.txt.
ransacOptions m_epsilon = .01f * pc.getScale() 
Definition at line 75 of file ReadMe.txt.
ransacOptions m_minSupport = 500 
Definition at line 80 of file ReadMe.txt.
ransacOptions m_normalThresh = .9f 
Definition at line 79 of file ReadMe.txt.
ransacOptoins m_probability = .001f 
Definition at line 81 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics No 
Definition at line 21 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics pages 
Definition at line 21 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY OR CONSEQUENTIAL WHETHER IN STRICT OR EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Example usage This section shows how to use the library to detect the shapes in a point cloud PointCloud pc 
Definition at line 68 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell Publishing 
Definition at line 22 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send questions 
Definition at line 27 of file ReadMe.txt.
RansacShapeDetector::Options ransacOptions 
Definition at line 74 of file ReadMe.txt.
Definition at line 93 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R Schnabel 
Definition at line 19 of file ReadMe.txt.
MiscLib::Vector< std::pair< MiscLib::RefCountPtr< PrimitiveShape >, size_t > > shapes 
Definition at line 92 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY SPECIAL 
Definition at line 47 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Blackwell June If you use this software you should cite the aforementioned paper in any resulting publication Please send comments or bug reports to Ruwen Roland BUT NOT LIMITED TO 
Definition at line 44 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R R Klein Efficient RANSAC for Point Cloud Shape in Computer Graphics Vol 
Definition at line 21 of file ReadMe.txt.
Introduction Thank you for taking interest in our work and downloading this software This library implements the algorithm described in the paper R R Wahl 
Definition at line 19 of file ReadMe.txt.