下面是使用CGAL库
实现RANSAC拟合平面的示例代码：
```c++
#include <iostream>
#include <cstdlib>
#include <vector>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Plane_3.h>
#include <CGAL/
Random.h>
#include <CGAL/
algorithm.h>
#include <CGAL/point_generators_3.h>
#include <CGAL/Timer.h>
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::Point_3 Point_3;
typedef Kernel::Plane_3 Plane_3;
int main(int argc, char* argv[])
{
// Generate
random points
int num_points = 1000000;
std::vector<Point_3> points;
points.reserve(num_points);
CGAL::
Random rand(42);
std::cout << "Generating " << num_points << "
random points..." << std::endl;
CGAL::Timer timer;
timer.start();
CGAL::
Random_points_in_cube_3<Point_3> gen(1.0);
for (int i = 0; i < num_points; ++i)
points.push_back(*gen++);
timer.stop();
std::cout << "Time to generate points: " << timer.time() << " seconds" << std::endl;
// Set up
RANSAC parameters
double threshold = 0.1; // maximum
distance from point to plane to be considered an inlier
int max_iterations = 1000; // maximum number of iterations to run
RANSAC
int min_inliers = 100; // minimum number of inliers to consider the result valid
// Run
RANSAC
std::cout << "Running
RANSAC..." << std::endl;
timer.reset();
timer.start();
Plane_3 best_fit;
int best_num_inliers = 0;
for (int i = 0; i < max_iterations; ++i)
{
// Select three
random points
std::vector<Point_3> sample;
for (int j = 0; j < 3; ++j)
sample.push_back(points[
rand.get_int(0, num_points-1)]);
// Fit plane to sample
Plane_3 plane(sample[0], sample[1], sample[2]);
// Count inliers
int num_inliers = 0;
for (int j = 0; j < num_points; ++j)
{
if (CGAL::squared_
distance(points[j], plane) < threshold*threshold)
++num_inliers;
}
// Update best fit if this one is better
if (num_inliers > best_num_inliers)
{
best_fit = plane;
best_num_inliers = num_inliers;
}
// Stop early if we have enough inliers
if (best_num_inliers >= min_inliers)
break;
}
timer.stop();
std::cout << "Time to run
RANSAC: " << timer.time() << " seconds" << std::endl;
// Output result
std::cout << "Best fit plane: " << best_fit << std::endl;
std::cout << "Number of inliers: " << best_num_inliers << std::endl;
return 0;
}
```
该代码生成了一百万个随机点，然后使用
RANSAC算法拟合平面，并输出最佳拟合平面及其所包含的内点数。您可以根据需要修改代码以适应自己的应用场景。
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