mrdja.ransacutils.cuda_plane_finder

mrdja.ransacutils.cuda_plane_finder(pcd: PointCloud, distance_threshold: float32, num_iterations: int64) → Dict[str, ndarray | PointCloud][source]

Computes the best plane that fits a point cloud and the indices of the inliers using GPU acceleration.

Parameters:

pcd (o3d.geometry.PointCloud) – The point cloud.
distance_threshold (np.float32) – Maximum distance to the plane.
num_iterations (np.int64) – Number of iterations to compute the best plane.

Returns:

The best plane parameters, the inliers point cloud and the outliers point cloud.

Return type:

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