RANSAC Fitting(with Normals)

Function: Fit the input point cloud

Input Parameters:

Name	Type	Valid Range	Default Value	Meaning
Pointcloud	XYZPoints	None	None	Pointcloud

Name

Type

Valid Range

Default Value

Meaning

Pointcloud

XYZPoints

None

Pointcloud

Output Parameters:

Name	Type	Valid Range	Default Value	Meaning
Fit internal point cloud	XYZPoints	None	None	Fit internal point cloud
Fit external point cloud	XYZPoints	None	None	Fit external point cloud
Equation parameters	List	None	None	Fitting the parameters of the obtained shapes (plane, line, sphere, cylinder, 3D ring): Plane model: Fit the coefficients of the plane equation [a, b, c, d], where ax+by+cz+d=0. Line model: Fit the coefficients of the line equation[x, y, z, dx, dy, dz], where(x, y, z) is a point on the line and(dx, dy, dz) is the direction vector of the line. Sphere model Fit the center and radius of the sphere[center.x, center.y, center.z, radius]. 3D ring model: Fit the center, normal vector of the circle plane, and radius [center.x, center.y, center.z, normal.x, normal.y, normal.z, radius]. Cylinder model: Fit the axis point, direction vector, and radius of the cylinder[axis_point.x, axis_point.y, axis_point.z, axis_direction.x, axis_direction.y, axis_direction.z, radius].
Results Direction	List	None	None	Result direction, plane fitting returns the normal vector of the plane, straight line fitting returns the direction of the straight line, cylindrical fitting returns the axial vector of the cylinder, 3D circular and 2D circular fitting returns the normal vector of the circle, spherical fitting does not return the normal vector

Name

Type

Valid Range

Default Value

Meaning

Fit internal point cloud

XYZPoints

None

Fit internal point cloud

Fit external point cloud

XYZPoints

None

Fit external point cloud

Equation parameters

List

None

Fitting the parameters of the obtained shapes (plane, line, sphere, cylinder, 3D ring): Plane model: Fit the coefficients of the plane equation [a, b, c, d], where ax+by+cz+d=0. Line model: Fit the coefficients of the line equation[x, y, z, dx, dy, dz], where(x, y, z) is a point on the line and(dx, dy, dz) is the direction vector of the line. Sphere model Fit the center and radius of the sphere[center.x, center.y, center.z, radius]. 3D ring model: Fit the center, normal vector of the circle plane, and radius [center.x, center.y, center.z, normal.x, normal.y, normal.z, radius]. Cylinder model: Fit the axis point, direction vector, and radius of the cylinder[axis_point.x, axis_point.y, axis_point.z, axis_direction.x, axis_direction.y, axis_direction.z, radius].

Results Direction

List

None

Result direction, plane fitting returns the normal vector of the plane, straight line fitting returns the direction of the straight line, cylindrical fitting returns the axial vector of the cylinder, 3D circular and 2D circular fitting returns the normal vector of the circle, spherical fitting does not return the normal vector

Parameter Settings:

Name	Type	Valid Range	Default Value	Meaning
Fit minimum points	Integer	[1, 10000000]	1	Minimum number of point cloud points included in the fitting result per iteration
Fit max points	Integer	[1, 4000000]	4000000	The maximum number of point cloud points included in the fitting result for each iteration
Repeat count	Integer	[0, 5000]	1	Refers to the number of repetitions of each input point cloud, which determines the number of results after each input point cloud fit
Max iterate times	Integer	[0, 100000]	100	Maximum number of iterations per fit
Loss function threshold	Float	[0, 1000000]	10.0	Loss function threshold
Fit the model	String	['Plane','Straight line','Sphere', '3D Ring']	Plane	Fit the model
Model orientation	List	None	[0,0,1]	Set the model direction. The straight line is the straight line direction, the plane is the plane normal vector, the cylinder is the cylinder axial direction, and the 3D circle is the normal direction of the circular plane.
Axial Floating Range	Float	[0,300]	30	Axial Floating Range

Name

Type

Valid Range

Default Value

Meaning

Fit minimum points

Integer

[1, 10000000]

Minimum number of point cloud points included in the fitting result per iteration

Fit max points

Integer

[1, 4000000]

4000000

The maximum number of point cloud points included in the fitting result for each iteration

Repeat count

Integer

[0, 5000]

Refers to the number of repetitions of each input point cloud, which determines the number of results after each input point cloud fit

Max iterate times

Integer

[0, 100000]

100

Maximum number of iterations per fit

Loss function threshold

Float

[0, 1000000]

10.0

Loss function threshold

Fit the model

String

['Plane','Straight line','Sphere', '3D Ring']

Plane

Fit the model

Model orientation

List

None

[0,0,1]

Set the model direction. The straight line is the straight line direction, the plane is the plane normal vector, the cylinder is the cylinder axial direction, and the 3D circle is the normal direction of the circular plane.

Axial Floating Range

Float

[0,300]

Axial Floating Range