mrdja.ransaclp.get_ordered_list_sse_plane

mrdja.ransaclp.get_ordered_list_sse_plane(pair_lines_number_inliers: List[Tuple[ndarray, int]], number_best: int | None = None, percentage_best: float = 0.2, already_ordered: bool = False, verbosity_level: int = 0, inherited_verbose_string: str = '') → List[Tuple[float, ndarray]][source]

Gets a list of the sse (sum of squared errors) of the planes built from the best pairs of lines, along with the planes. The best pairs of lines are the ones with the highest number of inliers. The number of planes returned is either the number_best or the percentage_best of the total number of planes.

Parameters:

  • pair_lines_number_inliers (List[Tuple[np.ndarray, int]]) – The list of pairs of lines and number of inliers.

  • number_best (int) – The number of best planes to consider.

  • percentage_best (float) – The percentage of best planes to consider.

  • already_ordered (bool) – Whether the pairs are already ordered by number of inliers.

  • verbosity_level (int) – The verbosity level.

  • inherited_verbose_string (str) – The inherited verbose string.

Returns:

The list of sse and planes ordered by sse.

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)
>>> 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 ]))]