mrdja.ransaclp.get_n_percentile_from_list_sse_plane

mrdja.ransaclp.get_n_percentile_from_list_sse_plane(list_sse_plane: List[Tuple[float, ndarray]], percentile: int = 5) → List[Tuple[float, ndarray]][source]

Gets the list of elements in which sse is below the n percentile from a list of sse and planes. The function looks for the best sse values, that are the lowest ones.

Parameters:

  • list_sse_plane (List[Tuple[float, np.ndarray]]) – The list of sse and planes.

  • percentile (int) – The percentile.

Returns:

The n percentile.

Return type:

List[Tuple[float, np.ndarray]]

Example:

>>> import open3d as o3d
>>> import mrdja.ransaclp as ransaclp
>>> import mrdja.ransac.coreransac as coreransac
>>> office_dataset = o3d.data.OfficePointClouds()
>>> office_filename = office_dataset.paths[0]
>>> ransac_iterator = coreransac.get_ransac_line_iteration_results
>>> ransac_iterations = 200
>>> threshold = 0.02
>>> seed = 42
>>> ransac_data = ransaclp.get_ransac_data_from_filename(office_filename, ransac_iterator = ransac_iterator,
                                                            ransac_iterations = ransac_iterations,
                                                            threshold = threshold, audit_cloud=True, seed = seed)
>>> pair_lines_number_inliers = ransaclp.get_lines_and_number_inliers_from_ransac_data_from_file(ransac_data)
>>> list_sse_plane = ransaclp.get_ordered_list_sse_plane(pair_lines_number_inliers, percentage_best = 0.2)
>>> len(list_sse_plane)
780
>>> list_sse_plane[:5]
[(3.133004699296308e-09,
array([ 0.02115254,  0.23488194, -0.97179373,  2.07212126])),
(4.072922344774246e-09,
array([-0.0583794 ,  0.16947913, -0.98380317,  2.274669  ])),
(5.597729648076989e-09,
array([ 0.04009822, -0.15939724,  0.98639984, -2.26464593])),
(1.6036620702538505e-08,
array([ 0.04939934, -0.14154284,  0.98869881, -2.30467834])),
(1.7597194644519755e-08,
array([-0.02745968,  0.98751003,  0.15514477, -2.9031455 ]))]
>>> list_sse_plane_05 = ransaclp.get_n_percentile_from_list_sse_plane(list_sse_plane, percentile = 5)
>>> len(list_sse_plane_05)
39
>>> list_sse_plane_05[:5]
[(3.133004699296308e-09,
array([ 0.02115254,  0.23488194, -0.97179373,  2.07212126])),
(4.072922344774246e-09,
array([-0.0583794 ,  0.16947913, -0.98380317,  2.274669  ])),
(5.597729648076989e-09,
array([ 0.04009822, -0.15939724,  0.98639984, -2.26464593])),
(1.6036620702538505e-08,
array([ 0.04939934, -0.14154284,  0.98869881, -2.30467834])),
(1.7597194644519755e-08,
array([-0.02745968,  0.98751003,  0.15514477, -2.9031455 ]))]