concepts.vision.george_vision_pipeline.object_centric_vision.threshold_table_detection

threshold_table_detection(pcd, z_threshold=0.005, return_condition=False)

Detect the table plane using a simple threshold.

Parameters:

• pcd (open3d.geometry.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[open3d.geometry.PointCloud, open3d.geometry.PointCloud]