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README.md

RANSAC for detecing planes from depth image

Description

It's the RANSAC python package for detect planes from depth image.

The main scripts are: plane_detector.py and config/plane_detector_config.yaml.

Specifically, it contains the following steps:

(1) Create point cloud from depth image
(2) while RANSAC hasn't failed:
(3)    Use RANSAC to detect a plane from point cloud.
(4)    Remove the plane's points from point cloud.

Installation

pip install -r requirements.txt

Usage

Run run_plane_detector.sh There are four parameters:

  • CF: The RANSAC configuration file path.
  • CAMERA: The camera configuration file path.
  • V: If visualization is enabled.
  • O: The orientation of the handle (vertical or horizontal)

You need to change the parameters in the configuration file carefully.

More details can be checked in ransac.py

Acknowledgements

Thank Feiyu Chen for providing the initial code.