mrdja.ransacutils.o3d_plane_finder

mrdja.ransacutils.o3d_plane_finder(pcd: PointCloud, distance_threshold: float, num_iterations: int) → Dict[str, ndarray | PointCloud][source]

Uses Open3D to find the best plane that fits a point cloud using RANSAC algorithm.

Parameters:

  • pcd (o3d.geometry.PointCloud) – Point cloud to fit a plane.

  • distance_threshold (float) – Maximum distance a point can have to be considered in the plane.

  • num_iterations (int) – Number of iterations to find the plane.

Returns:

Parameters of the best plane model and two point clouds containing the inliers and outliers, respectively.

Return type:

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