Multiple Planes Detection

A fast and simple method for multi-planes detection from point clouds using iterative RANSAC plane fitting.

Pre-requisite

• Python >= 3.5
• Numpy
• Open3D >= 0.16.0

(Since Open3D 0.16.0, the ransac plane fitting is parallel using openmp. If you use older versions, it can run but the speed would be slow.)

Reference Dataset

Link

Usage

# change the directory to .ptx files in python files

python plane_detection.py
python plane_detection2.py

Results

Input

plane_detection.py (RANSAC)

plane_detection2.py (RANSAC-Open3D)