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Python -- concave polygon boundary extraction of plane point cloud

2022-02-02 10:30:39 Dian Yunxia

One 、 Algorithm principle

1、 Process Overview

  1. RANSAC Fit the best plane
  2. Project the point cloud onto the fitting plane , Form a plane point cloud
  3. According to the concave envelope algorithm, the concave polygon boundary of two-dimensional point cloud is extracted

Two 、 Code implementation

from pclpy import pcl

# ------------------------- Load point cloud data ------------------------------
clou

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