pyransac3d.plane

Plane Objects

class 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.

Attributes:

• equation - Parameters of the plane using Ax+By+Cz+D, np.array (4,).
• inliers - Index of the points of pts which fit the plane.
• distances - Signed distance from each point of pts to the plane, np.array (N,), in the same order of pts. The sign tells on which side of the plane the point is.

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fit

def fit(pts: NDArray[np.float64],
        thresh: float = 0.05,
        maxIteration: int = 1000,
        callback: Callable[[FitState], bool | None] | None = None
        ) -> PlaneResult

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.
• callback: Optional callable which receives a FitState after every iteration. Return a truthy value from it to stop the fit early.

Returns:

PlaneResult with the equation of the plane and its inliers. Everything else measured while fitting is kept on the object, described in the attributes of this class.

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