def RANSAC2(fig, points, normals, X, Y, Z, length):
# 図形に応じてRANSAC
if fig==0:
res1, figure1 = SphereDict(points, normals, X, Y, Z, length)
epsilon, alpha = 0.01*length, np.pi/12
elif fig==1:
res1, figure1 = PlaneDict(points, normals, X, Y, Z, length)
epsilon, alpha = 0.08*length, np.pi/9
elif fig==2:
res1, figure1 = CylinderDict(points, normals, X, Y, Z, length)
epsilon, alpha = 0.01*length, np.pi/12
elif fig==3:
res1, figure1 = ConeDict(points, normals, X, Y, Z, length)
epsilon, alpha = 0.03*length, np.pi/9
# フィット点を抽出
MX1, MY1, MZ1, num1, index1 = CountPoints(figure1, points, X, Y, Z, normals, epsilon=epsilon, alpha=alpha)
print("BEFORE_num:{}".format(num1))
if num1!=0:
# フィット点を入力にフィッティング処理
res2 = Fitting(MX1, MY1, MZ1, normals[index1], length, fig, figure1.p, epsilon=epsilon, alpha=alpha)
print(res2.x)
if fig==0:
figure2 = F.sphere(res2.x)
elif fig==1:
figure2 = F.plane(res2.x)
elif fig==2:
figure2 = F.cylinder(res2.x)
elif fig==3:
figure2 = F.cone(res2.x)
# フィッティング後のスコア出力
_, _, _, num2, _ = CountPoints(figure2, points, X, Y, Z, normals, epsilon=epsilon, alpha=alpha, plotFlag=True)
print("AFTER_num:{}".format(num2))
# フィッティング後の方が良ければres2を出力
if num2 >= num1:
label_list, max_label, max_label_num = CountPoints(figure2, points, X, Y, Z, normals, epsilon=epsilon, alpha=alpha, printFlag=True, labelFlag=True, plotFlag=True)
return res2.x, label_list, max_label, max_label_num
#X, Y, Z, num, index = CountPoints(figure2, points, X, Y, Z, normals, epsilon=epsilon, alpha=alpha)
# res1のスコア0 OR res2よりスコアが多い => res1を出力
label_list, max_label, max_label_num = CountPoints(figure1, points, X, Y, Z, normals, epsilon=epsilon, alpha=alpha, printFlag=True, labelFlag=True, plotFlag=True)
#X, Y, Z, num, index = CountPoints(figure2, points, X, Y, Z, normals, epsilon=epsilon, alpha=alpha)
return res1, label_list, max_label, max_label_num
from avoplot.plugins import register from fitting import Fitting #register the fitting plugin register(Fitting())
