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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.)

You can install numpy and open3d by:

pip3 install -r requirements.txt

Usage

You can copy the functions in utils.py and plane_detection.py into your Python script and use function DetectMultiPlanes directly.

An example code can be found by running:

python3 plane_detection.py

Results