Plane

Plane

class Plane():
 |  Plane()

Implementation of planar RANSAC.

Class for Plane object, which finds the equation of a infinite plane using RANSAC algorithim.

Call fit(.) to randomly take 3 points of pointcloud to verify inliers based on a threshold.

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fit

 | fit(pts, thresh=0.05, minPoints=100, maxIteration=1000)

Find the best equation for a plane.

Arguments:

• pts: 3D point cloud as a np.array (N,3).
• thresh: Threshold distance from the plane which is considered inlier.
• maxIteration: Number of maximum iteration which RANSAC will loop over.

Returns:

• self.equation: Parameters of the plane using Ax+By+Cy+D np.array (1, 4)
• self.inliers: points from the dataset considered inliers

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