Convert unorganized point cloud (MX3) to organized point cloud (MXNX3)

Question

Steve 2016-5-25

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/285751-convert-unorganized-point-cloud-mx3-to-organized-point-cloud-mxnx3

回答： Anand 2019-12-6

Hello all, I am wondering if there is a method to convert unorganized point cloud (MX3) to organized point cloud (MXNX3). The PLY format doesn't support organized format. I need to convert it to organized one in order to find the plane using pcfitplane like this method: http://www.mathworks.com/help/vision/ref/pcfitplane.html . Thanks

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carlos Santiago Ovando 2019-10-4

Did you ever find out how to do this? I am running into the same issue.

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Answer 1

Anand 2019-12-6

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https://ww2.mathworks.cn/matlabcentral/answers/285751-convert-unorganized-point-cloud-mx3-to-organized-point-cloud-mxnx3#answer_405153

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You do not need to convert a pointCloud to organized form to use the pcfitplane function.

Here is an example:

% Read an unorganized point cloud
ptCloud = pcread('teapot.ply');
% The point cloud is unorganized, since Location property is M-by-3
disp(size(ptCloud.Location))
% Use pcfitplane
maxDistance     = 0.5;
referenceVector = [0 0 1];
model = pcfitplane(ptCloud, maxDistance, referenceVector)
figure
pcshow(ptCloud)
hold on
plot(model)