Detect cylindrical surfaces — px_detect_cylinders • parallax

RANSAC cylinder detection. Useful for pipes, poles, tree trunks.

Usage

px_detect_cylinders(
  cloud,
  distance_threshold = 0.02,
  radius_range = c(0.01, 2),
  min_points = 100L,
  num_iterations = 5000L
)

Arguments

cloud: A px_cloud (normals recommended).
distance_threshold: Numeric — max distance to cylinder surface.
radius_range: Numeric vector of length 2 — min/max radius.
min_points: Integer — minimum inliers.
num_iterations: Integer — RANSAC iterations.

Value

List of cylinder_result objects, each with:

axis_point: Numeric vector (3)
axis_direction: Numeric vector (3)
radius: Numeric
inlier_mask: Logical vector
n_inliers: Integer
rmse: Numeric