concepts.hw_interface.george_vision.object_centric_vision.threshold_table_detection#

threshold_table_detection(pcd, z_threshold=0.005, return_condition=False)[source]#

Detect the table plane using a simple threshold.

Parameters:

pcd (PointCloud) – an open3d point cloud.
z_threshold (float) – the threshold for the z coordinate.
return_condition (bool) – whether to return the condition used to filter the point cloud.

Returns:

If return_condition is True, returns a numpy array of shape (N,) representing the condition. Otherwise, returns a tuple of (inliers, outliers). Inliers and outliers are open3d point clouds.

Return type:

Tuple[ndarray, ndarray] | Tuple[PointCloud, PointCloud]