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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
import open3d as o3d
if __name__ == "__main__":
sample_pcd_data = o3d.data.PCDPointCloud()
pcd = o3d.io.read_point_cloud(sample_pcd_data.path)
# Flip it, otherwise the pointcloud will be upside down.
pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
plane_model, inliers = pcd.segment_plane(distance_threshold=0.01,
ransac_n=3,
num_iterations=1000)
[a, b, c, d] = plane_model
print(f"Plane equation: {a:.2f}x + {b:.2f}y + {c:.2f}z + {d:.2f} = 0")
print("Displaying pointcloud with planar points in red ...")
inlier_cloud = pcd.select_by_index(inliers)
inlier_cloud.paint_uniform_color([1.0, 0, 0])
outlier_cloud = pcd.select_by_index(inliers, invert=True)
o3d.visualization.draw([inlier_cloud, outlier_cloud])
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