robokudo.annotators.plane
=========================

.. py:module:: robokudo.annotators.plane

.. autoapi-nested-parse::

   Plane detection and visualization in point clouds.

   This module provides an annotator for:

   * Detecting dominant planes using RANSAC
   * Creating plane model annotations
   * Visualizing detected planes and inliers
   * Supporting threaded execution

   The plane detection uses:

   * RANSAC for robust model fitting
   * Distance threshold for inlier selection
   * Plane equation in ax + by + cz + d = 0 form

   .. note::
      Plane visualization includes both inlier points and a mesh model.



Classes
-------

.. autoapisummary::

   robokudo.annotators.plane.PlaneAnnotator


Module Contents
---------------

.. py:class:: PlaneAnnotator(name='PlaneAnnotator', descriptor=Descriptor())

   Bases: :py:obj:`robokudo.annotators.core.ThreadedAnnotator`


   Plane detector and visualizer for point clouds.

   This annotator:

   * Detects largest plane using RANSAC
   * Creates plane model annotations
   * Visualizes plane inliers and model
   * Runs in a separate thread

   .. note::
      Uses Open3D's plane segmentation with configurable parameters.


   .. py:class:: Descriptor

      Bases: :py:obj:`robokudo.annotators.core.BaseAnnotator.Descriptor`


      Configuration descriptor for plane detection.


      .. py:class:: Parameters

         Parameters for configuring plane detection.

         :ivar visualize_plane_model: Show plane model mesh, defaults to True
         :type visualize_plane_model: bool


         .. py:attribute:: visualize_plane_model
            :value: True




      .. py:attribute:: parameters



   .. py:method:: compute()

      Detect and annotate dominant plane in point cloud.

      The method:

      * Loads point cloud from CAS
      * Detects plane using RANSAC:
        * Distance threshold: 0.02
        * Sample size: 3 points
        * Iterations: 50
      * Creates plane annotation with:
        * Model parameters (a, b, c, d)
        * Inlier point indices
      * Visualizes results:
        * Inlier points in original cloud
        * Optional plane model mesh

      :return: SUCCESS after processing
      :rtype: py_trees.Status