<div align="center">
<img src="https://raw.githubusercontent.com/leomariga/pyRANSAC-3D/master/doc/logo.png"><br>
</div>
-----------------
[](https://pypi.org/project/pyransac3d/)
[](https://github.com/leomariga/pyransac3d/blob/master/LICENSE)
## What is pyRANSAC-3D?
**_pyRANSAC-3D_** is an open source implementation of Random sample consensus (RANSAC) method. It fits primitive shapes such as planes, cuboids and cylinder in a point cloud to many aplications: 3D slam, 3D reconstruction, object tracking and many others.
<div align="center">
<img src="https://raw.githubusercontent.com/leomariga/pyRANSAC-3D/master/doc/plano.gif"><br>
</div>
#### Features:
- [Plane](https://leomariga.github.io/pyRANSAC-3D/api-documentation/plane/)
- [Cylinder](https://leomariga.github.io/pyRANSAC-3D/api-documentation/cylinder/)
- [Cuboid](https://leomariga.github.io/pyRANSAC-3D/api-documentation/cuboid/)
- [Sphere](https://leomariga.github.io/pyRANSAC-3D/api-documentation/sphere/)
- [Line](https://leomariga.github.io/pyRANSAC-3D/api-documentation/line/)
- [Circle](https://leomariga.github.io/pyRANSAC-3D/api-documentation/circle/)
- [Point](https://leomariga.github.io/pyRANSAC-3D/api-documentation/point/)
## Installation
Requirements: Numpy
Install with [Pypi](https://pypi.org/project/pyransac3d/):
```sh
pip3 install pyransac3d
```
## Take a look:
### Example 1 - Planar RANSAC
``` python
import pyransac3d as pyrsc
points = load_points(.) # Load your point cloud as a numpy array (N, 3)
plane1 = pyrsc.Plane()
best_eq, best_inliers = plane1.fit(points, 0.01)
```
Results in the plane equation Ax+By+Cz+D:
`[0.720, -0.253, 0.646, 1.100]`
### Example 2 - Spherical RANSAC
Loading a noisy sphere's point cloud with r = 5 centered in 0 we can use the following code:
``` python
import pyransac3d as pyrsc
points = load_points(.) # Load your point cloud as a numpy array (N, 3)
sph = pyrsc.Sphere()
center, radius, inliers = sph.fit(points, thresh=0.4)
```
Results:
``` python
center: [0.010462385575072288, -0.2855090643954039, 0.02867848979091283]
radius: 5.085218633039647
```
## Documentation & other links
- The [documentation is this Ṕage](https://leomariga.github.io/pyRANSAC-3D/).
- Source code in the [Github repository](https://github.com/leomariga/pyRANSAC-3D).
- [Pypi pakage installer](https://pypi.org/project/pyransac3d/)
- You can find the animations you see in the documentation on branch [Animations](https://github.com/leomariga/pyRANSAC-3D/tree/Animations). It needs [Open3D](https://github.com/intel-isl/Open3D) library to run. The Animation branch is not regularly maintained, it only exists to create some cool visualizations ;D
## License
[Apache 2.0](https://github.com/leomariga/pyRANSAC-3D/blob/master/LICENSE)
## Contributing is awesome!
See [CONTRIBUTING](https://github.com/leomariga/pyRANSAC-3D/blob/master/CONTRIBUTING.md)
## Contact
Developed with :heart: by the internet
Mainteiner: [Leonardo Mariga](https://github.com/leomariga)
Did you like it? Remember to click on :star2: button.
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"description": "\n<div align=\"center\">\n <img src=\"https://raw.githubusercontent.com/leomariga/pyRANSAC-3D/master/doc/logo.png\"><br>\n</div>\n\n-----------------\n[](https://pypi.org/project/pyransac3d/)\n[](https://github.com/leomariga/pyransac3d/blob/master/LICENSE)\n\n## What is pyRANSAC-3D?\n**_pyRANSAC-3D_** is an open source implementation of Random sample consensus (RANSAC) method. It fits primitive shapes such as planes, cuboids and cylinder in a point cloud to many aplications: 3D slam, 3D reconstruction, object tracking and many others. \n\n<div align=\"center\">\n <img src=\"https://raw.githubusercontent.com/leomariga/pyRANSAC-3D/master/doc/plano.gif\"><br>\n</div>\n\n#### Features:\n - [Plane](https://leomariga.github.io/pyRANSAC-3D/api-documentation/plane/)\n - [Cylinder](https://leomariga.github.io/pyRANSAC-3D/api-documentation/cylinder/)\n - [Cuboid](https://leomariga.github.io/pyRANSAC-3D/api-documentation/cuboid/)\n - [Sphere](https://leomariga.github.io/pyRANSAC-3D/api-documentation/sphere/)\n - [Line](https://leomariga.github.io/pyRANSAC-3D/api-documentation/line/)\n - [Circle](https://leomariga.github.io/pyRANSAC-3D/api-documentation/circle/)\n - [Point](https://leomariga.github.io/pyRANSAC-3D/api-documentation/point/)\n\n\n## Installation\nRequirements: Numpy\n\nInstall with [Pypi](https://pypi.org/project/pyransac3d/):\n\n```sh\npip3 install pyransac3d\n```\n\n## Take a look: \n\n### Example 1 - Planar RANSAC\n\n``` python\nimport pyransac3d as pyrsc\n\npoints = load_points(.) # Load your point cloud as a numpy array (N, 3)\n\nplane1 = pyrsc.Plane()\nbest_eq, best_inliers = plane1.fit(points, 0.01)\n\n```\n\nResults in the plane equation Ax+By+Cz+D:\n`[0.720, -0.253, 0.646, 1.100]`\n\n### Example 2 - Spherical RANSAC\n\nLoading a noisy sphere's point cloud with r = 5 centered in 0 we can use the following code:\n\n``` python\nimport pyransac3d as pyrsc\n\npoints = load_points(.) # Load your point cloud as a numpy array (N, 3)\n\nsph = pyrsc.Sphere()\ncenter, radius, inliers = sph.fit(points, thresh=0.4)\n\n```\n\nResults:\n``` python\ncenter: [0.010462385575072288, -0.2855090643954039, 0.02867848979091283]\nradius: 5.085218633039647\n```\n\n![3D Sphere](https://raw.githubusercontent.com/leomariga/pyRANSAC-3D/master/doc/sphere.gif \"3D Sphere\")\n\n\n## Documentation & other links\n - The [documentation is this \u1e54age](https://leomariga.github.io/pyRANSAC-3D/).\n - Source code in the [Github repository](https://github.com/leomariga/pyRANSAC-3D).\n - [Pypi pakage installer](https://pypi.org/project/pyransac3d/)\n - You can find the animations you see in the documentation on branch [Animations](https://github.com/leomariga/pyRANSAC-3D/tree/Animations). It needs [Open3D](https://github.com/intel-isl/Open3D) library to run. The Animation branch is not regularly maintained, it only exists to create some cool visualizations ;D \n\n\n## License\n[Apache 2.0](https://github.com/leomariga/pyRANSAC-3D/blob/master/LICENSE)\n\n## Contributing is awesome!\n\nSee [CONTRIBUTING](https://github.com/leomariga/pyRANSAC-3D/blob/master/CONTRIBUTING.md)\n\n\n\n\n## Contact\n\nDeveloped with :heart: by the internet\n\n\nMainteiner: [Leonardo Mariga](https://github.com/leomariga) \n\nDid you like it? Remember to click on :star2: button.\n\n\n",
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