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https://github.com/graphdeco-inria/gaussian-splatting
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19 lines
683 B
Python
19 lines
683 B
Python
from tools.points_utils import *
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import numpy as np
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import math
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import open3d as o3d
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def fit_ground_plane(xyz, threshold=0.02):
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"""
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使用 RANSAC 拟合地面平面模型。
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返回：平面模型 [a, b, c, d] 和内点索引。
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"""
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pcd = o3d.geometry.PointCloud()
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pcd.points = o3d.utility.Vector3dVector(xyz)
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plane_model, inliers = pcd.segment_plane(distance_threshold=threshold,
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ransac_n=3,
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num_iterations=1000)
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[a, b, c, d] = plane_model
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print(f"拟合的地面平面方程: {a:.4f}x + {b:.4f}y + {c:.4f}z + {d:.4f} = 0")
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return plane_model, inliers |