mrdja.ransacutils.ransac_from_scratch_plane_finder

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

Computes the best plane that fits a collection of points and the indices of the inliers.

Parameters:

pcd (o3d.geometry.PointCloud) – The point cloud data.
distance_threshold (float) – Maximum distance to the plane.
num_iterations (int) – Number of iterations to compute the best plane.

Returns:

Best plane parameters and the indices of the points that fit the plane.

Return type:

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