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15.36 14.2.12 Ajuste de planos, normales y mallas
| Componente | Regla |
|---|---|
| baseWall | Robust plane or mesh estimation after excluding mounted objects and athlete points. |
| planarPatches | RANSAC plane proposals followed by connected-component and normal-consistency refinement. |
| curvedPatches | Local normal/curvature estimation or mesh patches; do not force all holds to planes. |
| objectPose | Estimate from stable geometry and parent surface; symmetric objects may have orientation ambiguity. |
| boundaryRule | The 3D boundary follows valid geometry but retains 2D mask uncertainty where depth is absent. |
| normalRule | Orient local normals consistently toward free/usable space; preserve unsigned normal when orientation is unresolved. |
| minimumEvidence | A metric patch requires sufficient spatially distributed depth samples, not merely three nearly collinear points. |
Open3D implementa segmentación de planos mediante RANSAC y devuelve
el modelo a·x+b·y+c·z+d=0 junto con sus inliers [P42-R12].
En esta enciclopedia, RANSAC es una propuesta inicial: los patches se
refinan con conectividad, normales, límites y parent.
15.36.1 Distancia de un punto a un plano
d = |a*x + b*y + c*z + d| / sqrt(a²+b²+c²)15.36.2 Protrusión sobre la superficie parent
h = max_k n_parent · (p_k - o_parent)La protrusión sólo es válida cuando la normal parent está orientada y los puntos del objeto tienen cobertura suficiente.