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planeModel

Object for storing parametric plane model

Description

Construct and store a parametric plane model based on parameters that describe a plane.

Creation

Description

example

model = planeModel(Parameters) constructs a parametric plane model from the 1-by-4 Parameters input vector that describes a plane.

Input Arguments

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Plane parameters, specified as a 1-by-4 vector. This input specifies the Parameters property. The four parameters [a,b,c,d] describe the equation for a plane:

ax+by+cz+d=0

Properties

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These properties are read-only.

Plane model parameters, stored as a 1-by-4 vector. These parameters are specified by the Parameters input argument.

Normal vector of the plane, stored as a 1-by-3 vector. The [a,b,c] vector specifies the unnormalized normal vector of the plane.

Object Functions

plotPlot parametric model
normalRotationCompute transform for rotation of normal to plane

Examples

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Load the point cloud.

load("object3d.mat")

Display the point cloud and label the figure.

figure
pcshow(ptCloud)
xlabel("X(m)")
ylabel("Y(m)")
zlabel("Z(m)")
title("Original Point Cloud")

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

maxDistance = 0.02;

Set the normal vector of the plane.

referenceVector = [0,0,1];

Set the maximum angular distance to 5 degrees.

maxAngularDistance = 5;

Detect the first plane, the table, and extract it from the point cloud.

[model1,inlierIndices,outlierIndices] = pcfitplane(ptCloud,...
            maxDistance,referenceVector,maxAngularDistance);
plane1 = select(ptCloud,inlierIndices);
remainPtCloud = select(ptCloud,outlierIndices);

Set the region of interest to constrain the search for the second plane, left wall.

roi = [-inf,inf;0.4,inf;-inf,inf];
sampleIndices = findPointsInROI(remainPtCloud,roi);

Detect the left wall and extract it from the remaining point cloud.

[model2,inlierIndices,outlierIndices] = pcfitplane(remainPtCloud,...
            maxDistance,SampleIndices=sampleIndices);
plane2 = select(remainPtCloud,inlierIndices);
remainPtCloud = select(remainPtCloud,outlierIndices);

Plot the two planes and the remaining points.

figure
pcshow(plane1)
title("First Plane")

figure
pcshow(plane2)
title("Second Plane")

figure
pcshow(remainPtCloud)
title("Remaining Point Cloud")

Version History

Introduced in R2015b