plot

Load a MAT file containing a point cloud into the workspace.

load("object3d.mat");

Display the point cloud.

figure
pcshow(ptCloud)
title("Detect a Cylinder in a Point Cloud")

Set the maximum point-to-cylinder distance for cylinder fitting to 5mm.

maxDistance = 0.005;

Specify a region of interest (ROI) to constrain the fitting function.

roi = [0.4 0.6; -inf 0.2; 0.1 inf];
sampleIndices = findPointsInROI(ptCloud,roi);

Set the orientation constraint for the fitting function

referenceVector = [0 0 1];

Detect the cylinder in the specified ROI of the point cloud and extract it.

model = pcfitcylinder(ptCloud,maxDistance,referenceVector, ...
        SampleIndices=sampleIndices);

Plot the model of the detected cylinder.

hold on
plot(model)

Load a point cloud into the workspace.

load("object3d.mat");

Display the point cloud and label the figure.

figure
pcshow(ptCloud)
title("Detect a sphere in a point cloud")

Set the maximum point-to-sphere distance for sphere fitting to 1cm.

maxDistance = 0.01;

Set the region of interest to constrain the search.

roi = [-inf,0.5;0.2,0.4;0.1,inf];
sampleIndices = findPointsInROI(ptCloud,roi);

Detect the globe in the point cloud and extract it.

[model,inlierIndices] = pcfitsphere(ptCloud,maxDistance,SampleIndices=sampleIndices);
globe = select(ptCloud,inlierIndices);

Plot the extracted globe.

figure
pcshow(globe)
title("Globe Point Cloud")

Load a MAT file containing a point cloud.

load("object3d.mat");

Display the point cloud into the workspace.

figure
pcshow(ptCloud)
title("Detect a Plane in a Point Cloud")

Set the maximum point-to-plane distance for plane fitting to 2cm.

maxDistance = 0.02;

Specify the normal vector plane for the fitted plane.

referenceVector = [0 0 1];

Set the maximum angular distance for the fitted plane to 5 degrees.

maxAngularDistance = 5;

Detect the plane, the table, in the point cloud and extract it.

model = pcfitplane(ptCloud,maxDistance,referenceVector,maxAngularDistance);

Plot the plane.

hold on
plot(model)