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Doc編集 #14

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Aug 19, 2024
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Doc編集 #14

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2 changes: 2 additions & 0 deletions README.md
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Expand Up @@ -36,6 +36,8 @@ pip install git+https://github.com/HiraiKyo/ply-processor-basics

#### `points.ransac.detect_plane`

#### `points.ransac.detect_circle`

### Open3d

#### `pcd.snapshot`
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1 change: 1 addition & 0 deletions ply_processor_basics/matrix/get_rotation_from_vectors.py
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Expand Up @@ -7,6 +7,7 @@

def get_rotation_from_vectors(vec1: NDArray[np.float32], vec2: NDArray[np.float32]):
"""_summary_
2つのベクトルから回転行列を求める関数

Args:
vec1: The vector from.
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9 changes: 5 additions & 4 deletions ply_processor_basics/points/ransac/detect_circle.py
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Expand Up @@ -17,11 +17,12 @@ def detect_circle(
"""
平面上の点群から最大円をRANSACで検出する関数

:param points: a set of points

:param points: 点群(N, 3)
:param plane_model: 平面の方程式(4, )
:param density_threshold: 円内に含まれる点の密度閾値
:param voxel_size: 格子点のサイズ
:param max_iteration: RANSACの最大繰り返し回数
:return: 検出した円の点ポインタ(N, ), 円中心座標(N, 3), 円半径

検出失敗時は None を返す
"""
# 方針: 平面上の点群をXY平面に射影し、RANSACで円を検出する
# 1. 平面上の点群をXY平面に射影し、格子点にする
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2 changes: 1 addition & 1 deletion ply_processor_basics/points/transform_to_plane_coordinates.py
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Expand Up @@ -12,7 +12,7 @@ def transform_to_plane_coordinates(
points: NDArray[np.floating], origin: NDArray[np.floating], normal: NDArray[np.floating]
) -> Tuple[NDArray[np.floating], NDArray[np.floating]]:
"""
点群を平面上の1点を原点とし、法線方向をZ軸とする座標系に変換する。
点群を、平面上の1点を原点とし法線方向をZ軸とする座標系に変換する。

:param points: 変換する点群 (N, 3)
:param origin: 新しい座標系の原点 (3,)
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