concepts.hw_interface.george_vision.object_centric_vision.object_reconstruction_by_extrusion

object_reconstruction_by_extrusion(pcd, model, extrusion_distance=0.005, min_height=0.05, include_inner_points=False)

Reconstruct an object by extrusion.

Parameters:

• pcd (PointCloud) – an open3d point cloud.

• model (ndarray) – a numpy array of shape (4,) representing the plane model.

• extrusion_distance (float) – the distance to extrude.

• min_height (float | None) – the minimum height of the extrusion. If an object is too thin, we will extrude it to this height.

• include_inner_points (bool) – whether to include the inner points of the object.

Return type:

PointCloud