def isplanar(xyz,sample_neighbors,dist_thresh,num_inliers,z_proj):
"""
Checks if at-least FRAC_INLIERS fraction of points of XYZ (nx3)
points lie on a plane. The plane is fit using RANSAC.
XYZ : (nx3) array of 3D point coordinates
SAMPLE_NEIGHBORS : 5xN_RANSAC_TRIALS neighbourhood array
of indices into the XYZ array. i.e. the values in this
matrix range from 0 to number of points in XYZ
DIST_THRESH (default = 10cm): a point pt is an inlier iff dist(plane-pt)<dist_thresh
FRAC_INLIERS : fraction of total-points which should be inliers to
to declare that points are planar.
Z_PROJ : changes the surface normal, so that its projection on z axis is ATLEAST z_proj.
Returns:
None, if the data is not planar, else a 4-tuple of plane coeffs.
"""
frac_inliers = num_inliers/xyz.shape[0]
dv = -np.percentile(xyz,50,axis=0) # align the normal to face towards camera
max_iter = sample_neighbors.shape[-1]
plane_info = fit_plane_ransac(xyz,neighbors=sample_neighbors,
z_pos=dv,dist_inlier=dist_thresh,
min_inlier_frac=frac_inliers,nsample=20,
max_iter=max_iter)
if plane_info != None:
coeff, inliers = plane_info
coeff = ensure_proj_z(coeff, z_proj)
return coeff,inliers
else:
return #None
def isplanar(xyz,sample_neighbors,dist_thresh,num_inliers,z_proj):
"""
Checks if at-least FRAC_INLIERS fraction of points of XYZ (nx3)
points lie on a plane. The plane is fit using RANSAC.
XYZ : (nx3) array of 3D point coordinates
SAMPLE_NEIGHBORS : 5xN_RANSAC_TRIALS neighbourhood array
of indices into the XYZ array. i.e. the values in this
matrix range from 0 to number of points in XYZ
DIST_THRESH (default = 10cm): a point pt is an inlier iff dist(plane-pt)<dist_thresh
FRAC_INLIERS : fraction of total-points which should be inliers to
to declare that points are planar.
Z_PROJ : changes the surface normal, so that its projection on z axis is ATLEAST z_proj.
Returns:
None, if the data is not planar, else a 4-tuple of plane coeffs.
"""
frac_inliers = num_inliers/xyz.shape[0]
dv = -np.percentile(xyz,50,axis=0) # align the normal to face towards camera
max_iter = sample_neighbors.shape[-1]
plane_info = fit_plane_ransac(xyz,neighbors=sample_neighbors,
z_pos=dv,dist_inlier=dist_thresh,
min_inlier_frac=frac_inliers,nsample=20,
max_iter=max_iter)
if plane_info != None:
coeff, inliers = plane_info
coeff = ensure_proj_z(coeff, z_proj)
return coeff,inliers
else:
return #None
