Sequential RANSAC plane detection. Iteratively finds the largest plane,
removes inliers, and repeats.
Usage
px_detect_planes(
cloud,
distance_threshold = 0.02,
max_planes = 10L,
min_points = 100L,
num_iterations = 1000L
)
Arguments
- cloud
A px_cloud.
- distance_threshold
Numeric — max distance to plane for inlier.
- max_planes
Integer — maximum planes to detect.
- min_points
Integer — minimum inliers for a valid plane.
- num_iterations
Integer — RANSAC iterations per plane.
Value
List of plane_result objects, each with:
- equation
Numeric vector (a, b, c, d) — plane equation
- normal
Numeric vector (3) — plane normal
- inlier_mask
Logical vector
- n_inliers
Integer
- rmse
Numeric — RMS inlier distance
