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Sphere

Sphere

class Sphere():
 |  Sphere()

Implementation for Sphere RANSAC. A Sphere is defined as points spaced from the center by a constant radius.

This class finds the center and radius of a sphere. Base on article "PGP2X: Principal Geometric Primitives Parameters Extraction"

3D Sphere

fit

 | fit(pts, thresh=0.2, maxIteration=1000)

Find the parameters (center and radius) to define a Sphere.

Arguments:

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

Returns:

  • center: Center of the cylinder np.array(1,3) which the cylinder axis is passing through.
  • radius: Radius of cylinder.
  • inliers: Inlier's index from the original point cloud.