根据那篇 Detecting set of planes from point cloud 我也在做同样的事情，但我不知道如何在 python 中继续使用该算法。有人会为python中的算法指出一个伪代码吗？或者使用任何帮助库，如 scipy ？
我正在尝试检测两个平面（两个有边缘的墙），我需要它们的法线
提到的算法：
Pick 3 points at random.
Make a plane.
Check if each other point lies on the plane.
If enough are on the plane - recalculate a best plane from all these points and remove them from the set
If not try another 3 points
Stop when you have enough planes, or too few points left.