findPointsInModel
R2026bDescription
Examples
Load a MAT file containing point cloud data into the workspace.
load("object3d.mat")Visualize the point cloud.
figure pcshow(ptCloud)
Define a region of interest (ROI) in the point cloud in which to detect a cylinder model.
roi = [0.4 0.7; -0.1 0.2; 0 0.4]; sampleIndices = findPointsInROI(ptCloud,roi);
Set a maximum point-to-cylinder distance of 5 mm for cylinder fitting and the orientation constraint.
maxDistance = 0.005; referenceVector = [0 0 1];
Detect a cylinder in the point cloud.
model = pcfitcylinder(ptCloud,maxDistance,referenceVector, ...
SampleIndices=sampleIndices);Create a synthetic point cloud that is evenly distributed and covers the region of interest.
gridStep = 0.005;
[x,y,z] = meshgrid(roi(1,1):gridStep:roi(1,2),roi(2,1):gridStep:roi(2,2), ...
roi(3,1):gridStep:roi(3,2));
syntheticPtCloud = pointCloud([x(:) y(:) z(:)],Color=[0.7 0.7 0.8]);Find the points in the synthetic point cloud that are in the cylinder.
idx = findPointsInModel(model,syntheticPtCloud); cylinderPtCloud = select(syntheticPtCloud,idx);
Visualize the resulting point cloud, with the synthetic points in the cylinder modeling the object on the table.
figure
pcshow(cylinderPtCloud)
hold on
pcshow(ptCloud)
Load a MAT file containing a point cloud into the workspace.
load("object3d.mat")Visualize the point cloud.
figure pcshow(ptCloud)
Define a region of interest (ROI) in the point cloud in which to detect a sphere model.
roi = [0.2 0.55; 0.2 0.5; 0 0.5]; sampleIndices = findPointsInROI(ptCloud,roi);
Set a maximum point-to-sphere distance of 5mm for sphere fitting.
maxDistance = 0.005;
Detect the sphere in the point cloud.
[model,inlierIdx] = pcfitsphere(ptCloud,maxDistance,SampleIndices=sampleIndices);
Find one of the colors in the detected sphere, to use for the synthetic point cloud.
inlierPtCloud = select(ptCloud,inlierIdx); color = median(inlierPtCloud.Color);
Create a synthetic point cloud that is evenly distributed and covers the region of interest.
gridStep = 0.005;
[x,y,z] = meshgrid(roi(1,1):gridStep:roi(1,2),roi(2,1):gridStep:roi(2,2), ...
roi(3,1):gridStep:roi(3,2));
syntheticPtCloud = pointCloud([x(:) y(:) z(:)],Color=color);Find the points in the synthetic point cloud that are in the sphere.
idx = findPointsInModel(model,syntheticPtCloud); spherePtCloud = select(syntheticPtCloud,idx);
Visualize the resulting point cloud, with the synthetic points in the sphere modeling the object on the table.
figure
pcshow(spherePtCloud)
hold on
pcshow(ptCloud)
