Module segmentation

Structs

Line

Represents a line between two points the ranking shows how many points of the pointcloud are inliers for this specific line

Plane

Represents a plane in coordinate-form: ax + by + cz + d = 0 the ranking shows how many points of the pointcloud are inliers for this specific plane

Functions

ransac_line_par

Ransac Line Segmentation in parallel. Returns the line with the highest rating/most inliers and the associated indices of the inliers. Iterates over all points in the buffer. The distance_threshold sets the maximum distance to the plane that a point is counted as an inlier from. With num_of_iterations the number of iterations that the algorithm performs can be chosen.

ransac_line_serial

Ransac Line Segmentation in serial (for maximum speed use ransac_line_par). Returns the line with the highest rating/most inliers and the associated indices of the inliers. Iterates over all points in the buffer. The distance_threshold sets the maximum distance to the plane that a point is counted as an inlier from. With num_of_iterations the number of iterations that the algorithm performs can be chosen.

ransac_plane_par

Ransac Plane Segmentation in parallel. Returns the plane with the highest rating/most inliers and the associated indices of the inliers. Iterates over all points in the buffer. The distance_threshold sets the maximum distance to the plane that a point is counted as an inlier from. With num_of_iterations the number of iterations that the algorithm performs can be chosen.

ransac_plane_serial

Ransac Plane Segmentation in serial (for maximum speed use ransac_plane_par). Returns the plane with the highest rating/most inliers and the associated indices of the inliers. Iterates over all points in the buffer. The distance_threshold sets the maximum distance to the plane that a point is counted as an inlier from. With num_of_iterations the number of iterations that the algorithm performs can be chosen.