9. RANSAC_SD plugin

RANSAC_SD is a standard plugin of cloudComPy.

The availability of the plugin can be tested with the cloudComPy.isPluginRANSAC_SD() function:

isRANSAC_SD_available = cc.isPluginRANSAC_SD()

RANSAC_SD is a submodule of cloudCompy:

import cloudComPy as cc
# ...
if cc.isPluginRANSAC_SD():
    import cloudComPy.RANSAC_SD
    params = cc.RANSAC_SD.RansacParams()
    results = cc.RANSAC_SD.computeRANSAC_SD(cloud, params)

class cloudComPy.RANSAC_SD.RansacParams

RANSAC_SD parameters

__init__(self: _RANSAC_SD.RansacParams) → None: RANSAC_SD parameters default constructor

property allowFitting: Use Least Squares fitting on found shapes, default True.

property allowSimplification: Attempt to simplify shapes. Will attempt to convert torus, cones, spheres, cylinders into simpler shapes. For instance, cones may be simplified into cylinder, sphere or plane. Default True.

property bitmapEpsilon: Sampling resolution, should correspond to the average distance of neighbors points in data, default 0.001.

property createCloudFromLeftOverPoints: Save leftover points into a new cloud, default True.

property epsilon: Maximum distance if the samples to the ideal shape, default 0.005.

getPrimEnabled(self: _RANSAC_SD.RansacParams, arg0: _RANSAC_SD.RANSAC_PRIMITIVE_TYPES) → bool

Check the type of primitive (plane, sphere, cylinder, cone, torus) enabled. By default, plane, sphere, cylinder are enabled. Types of primitive are from:

RANSAC_PRIMITIVE_TYPES.RPT_PLANE

RANSAC_PRIMITIVE_TYPES.RPT_SPHERE

RANSAC_PRIMITIVE_TYPES.RPT_CYLINDER

RANSAC_PRIMITIVE_TYPES.RPT_CONE

RANSAC_PRIMITIVE_TYPES.RPT_TORUS

Parameters:: rpt (RANSAC_PRIMITIVE_TYPES) – type of primitive
Returns:: whether the type is enabled or not
Return type:: bool

property maxConeAngle_deg: Maximum cone angle, default +infinity.

property maxConeLength: Maximum cone length, default +infinity.

property maxConeRadius: Maximum cone radius, default +infinity.

property maxCylinderLength: Maximum cylinder length, default +infinity.

property maxCylinderRadius: Maximum cylinder radius, default +infinity.

property maxNormalDev_deg: Maximum deviation from the ideal shape normal vector (in degrees), default 25.

property maxSphereRadius: Maximum sphere radius, default +infinity.

property maxTorusMajorRadius: Maximum tore major radius, default +infinity.

property maxTorusMinorRadius: Maximum tore minor radius, default +infinity.

property minCylinderRadius: Minimum cylinder radius, default -infinity.

property minSphereRadius: Minimum sphere radius, default -infinity.

property minTorusMajorRadius: Minimum tore major radius, default -infinity.

property minTorusMinorRadius: Minimum tore minor radius, default -infinity.

optimizeForCloud(self: _RANSAC_SD.RansacParams, arg0: _cloudComPy.ccPointCloud) → None

Sets values for epsilon and bitmapEpsilon based on the cloud bounding box, maximum dimension. epsilon is set to 0.005 * maxDim, bitmapEpsilon is set to 0.01 * maxDim.

Parameters:: cloud (ccPointCloud) – the cloud to be analyzed.

property probability: Probability that no better candidate was overlooked during the sampling, the lower the better, default 0.01

property randomColor: Set random color for each shape found, default True.

setPrimEnabled(self: _RANSAC_SD.RansacParams, arg0: _RANSAC_SD.RANSAC_PRIMITIVE_TYPES, arg1: bool) → None

Define the type of primitive (plane, sphere, cylinder, cone, torus) enabled. By default, plane, sphere, cylinder are enabled. Types of primitive are from:

RANSAC_PRIMITIVE_TYPES.RPT_PLANE

RANSAC_PRIMITIVE_TYPES.RPT_SPHERE

RANSAC_PRIMITIVE_TYPES.RPT_CYLINDER

RANSAC_PRIMITIVE_TYPES.RPT_CONE

RANSAC_PRIMITIVE_TYPES.RPT_TORUS

Parameters:

rpt (RANSAC_PRIMITIVE_TYPES) – type of primitive
isEnabled (bool) – whether the type is enabled or not

property supportPoints: Minimal number of points required to define a primitive, default 500.

cloudComPy.RANSAC_SD.computeRANSAC_SD(arg0: _cloudComPy.ccPointCloud, arg1: _RANSAC_SD.RansacParams) → tuple: RANSAC Shape Detection is a simple interface to the automatic shape detection algorithm proposed by Ruwen Schnabel et al. of Bonn university (Efficient RANSAC for Point-Cloud Shape Detection).

cloudComPy.RANSAC_SD.initTrace_RANSAC_SD() → None

Debug trace must be initialized for each Python module.

Done in module init, following the value of environment variable _CCTRACE_ (“ON” if debug traces wanted)