What is pyRANSAC-3D?

pyRANSAC-3D is an open source implementation of Random sample consensus (RANSAC) method. It fits primitive shapes such as planes, cuboids and cylinder in a point cloud to many aplications: 3D slam, 3D reconstruction, object tracking and many others.

Features:

• Plane
• Cylinder
• Cuboid
• Sphere
• Line
• Circle
• Point

Installation

Requirements: Numpy

Install with Pypi:

pip3 install pyransac3d

Take a look:

Example 1 - Planar RANSAC

import pyransac3d as pyrsc

points = load_points(.) # Load your point cloud as a numpy array (N, 3)

plane1 = pyrsc.Plane()
best_eq, best_inliers = plane1.fit(points, 0.01)

Results in the plane equation Ax+By+Cz+D: [0.720, -0.253, 0.646, 1.100]

Example 2 - Spherical RANSAC

Loading a noisy sphere's point cloud with r = 5 centered in 0 we can use the following code:

import pyransac3d as pyrsc

points = load_points(.) # Load your point cloud as a numpy array (N, 3)

sph = pyrsc.Sphere()
center, radius, inliers = sph.fit(points, thresh=0.4)

Results:

center: [0.010462385575072288, -0.2855090643954039, 0.02867848979091283]
radius: 5.085218633039647

Documentation & other links

• The documentation is this Ṕage.
• Source code in the Github repository.
• Pypi pakage installer
• You can find the animations you see in the documentation on branch Animations. It needs Open3D library to run. The Animation branch is not regularly maintained, it only exists to create some cool visualizations ;D

License

Apache 2.0

Citation

Did this repository was useful for your work? =)

@software{Mariga_pyRANSAC-3D_2022,
  author = {Mariga, Leonardo},
  doi = {10.5281/zenodo.7212567},
  month = {10},
  title = {{pyRANSAC-3D}},
  url = {https://github.com/leomariga/pyRANSAC-3D},
  version = {v0.6.0},
  year = {2022}
}

Contributing is awesome!

See CONTRIBUTING

Contact

Developed with :heart: by the internet

Mainteiner: Leonardo Mariga

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