docs(usage): add Open3D RANSAC baseline (§6) + format polish#99
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- python/examples/evaluate_ransac_in_semantickitti.py: new eval driver
built on open3d.geometry.PointCloud.segment_plane. Same metric
definitions and --eval_protocol flag as evaluate_semantickitti.py,
with --distance_threshold / --num_iterations knobs and an optional
--sweep_thresholds / --sweep_iterations grid. Per-frame median ms
is reported alongside P/R/F1.
- USAGE.md §6: full 6×5 grid (thr ∈ {0.10..0.50}, iter ∈ {100..10000})
on KITTI seq 00 — F1 saturates between iter=500 and iter=1000 (the
highest-iter cell only buys +0.07 F1 anywhere in the table), F1 ridge
is at thr=0.15. Best config (thr=0.15, iter=1000) evaluated on full
KITTI 00-10 gives macro P=94.18 / R=82.03 / F1=87.11 at 19.5 ms
median per frame — +9.18 F1 behind Patchwork++ on the macro and
-25.88 F1 on the worst sequence (seq 10, rolling rural).
- USAGE.md top: full README-style centered header block with badges,
demo gif, pip-install banner (matches README.md for consistency).
- USAGE.md section headings now use ## :emoji: N. ... form per the
format-readme template; existing 70-underscore dividers retained.
No algorithmic change; new script + docs only.
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Summary
Adds
python/examples/evaluate_ransac_in_semantickitti.py: an Open3Dsegment_planecompanion toevaluate_semantickitti.py, with the same metric definitions,--eval_protocol {patchwork, patchworkpp}flag, and an optional--sweep_thresholds × --sweep_iterationsgrid. Per-frame median ms is reported alongside P/R/F1.Adds §6 RANSAC baseline to
USAGE.md. A 6×5 sweep on KITTI seq 00 (thr ∈ {0.10, 0.15, 0.25, 0.30, 0.40, 0.50} × iter ∈ {100, 500, 1000, 5000, 10000}) shows F1 saturating between iter=500 and iter=1000 (the highest-iter cell only buys +0.07 F1 anywhere in the table). F1 ridge is at thr=0.15.Best config (thr=0.15, iter=1000) evaluated on full KITTI 00–10 (23,201 frames) under
--eval_protocol patchworkpp:Patchwork++ wins by +9.18 F1 on the macro and -25.88 F1 on seq 10. The single-plane assumption falls apart on rolling / multi-tier ground.
Polishes
USAGE.mdto matchREADME.mdstyling: centered header block with badges + demo gif + pip-install banner at the top,## :emoji: N. ...section headings throughout (existing 70-underscore dividers retained).No algorithmic change; new example + docs only.
Test plan
evaluate_ransac_in_semantickitti.pysmoke (5-frame seq 00) and full sweep (23,201 frames) both run cleansegment_planedocumented behaviour; F1 saturation pattern confirmed across iter=100→10000evaluate_semantickitti.py