mrdja.ransaclpexperiments.get_processing_examples

mrdja.ransaclpexperiments.get_processing_examples(filename_pcd: str, threshold: float, iterations: int, percentage_chosen_lines: float, percentage_chosen_planes: float, indices: ndarray)[source]

Get the pointclouds of the inliers of the lines that are in indices index_1 and index_2 according to the best number of inliers, along with the equation of the plane that best fits the two lines.

Parameters:

  • filename_pcd (str) – The path to the pcd file to be processed.

  • threshold (float) – The threshold to be used in the RANSAC algorithm.

  • iterations (int) – The number of iterations to be used in the RANSAC algorithm.

  • percentage_chosen_lines (float) – The percentage of chosen lines to be used in the RANSAC line algorithm.

  • percentage_chosen_planes (float) – The percentage of chosen planes to be used in the RANSAC line algorithm.

Returns:

A tuple with the inliers and outliers point clouds.

Return type:

Tuple[o3d.geometry.PointCloud, o3d.geometry.PointCloud]

Example:

>>> import mrdja.ransaclpexperiments as experiments
>>> import pickle as pkl
>>> import open3d as o3d
>>> filename_pcd = "/home/scpmaotj/open3d_data/extract/OfficePointClouds/cloud_bin_10.ply"
>>> threshold = 0.02
>>> iterations = 600
>>> percentage_chosen_lines = 0.2
>>> percentage_chosen_planes = 0.05
>>> indices = [0, 10]
>>> # indices = [0, 1]
>>> indices = [50, 51]
>>> results = experiments.get_processing_examples(filename_pcd, threshold, iterations, percentage_chosen_lines, percentage_chosen_planes, indices = indices)
>>> inliers_o3d = results["inliers_o3d"]
>>> outliers_o3d = results["outliers_o3d"]
>>> # inliers in red
>>> inliers_o3d.paint_uniform_color([1, 0, 0])
>>> o3d.visualization.draw_geometries([inliers_o3d, outliers_o3d])