Rob Hess Linux下的SIFT提取源码，金字塔采样和高斯差分提取特征点，KD树搜索寻找同名点，RANSAC去粗差,Rob Hess Linux source code under the SIFT extraction, sampling and Gaussian pyramid differential extraction of feature points, KD tree search to find the same name, points, RANSAC to gross

可以实现Ransac拟合直线和椭圆，很方便，可以直接用。-Can be achieved Ransac fitting a straight line and ellipse, very convenient, and can be directly used.

Ransac program for plane detection, the algorithm is implemented in C++ and works on Point cloud, the input is a PCD file which is generating by PCL-Library (sohaib-l@hotmail.fr