Extracting the plane of the ground from a PointCloud

Hello everyone,

I have to write an algorithm to extract the plane of the ground from a cloud. I know there is a tutorial for that, but I ha ve been trying it and I get a wrong result. This is my code:

pc=pcread('ism_test_cat.pcd');

pcshow(pc);

maxDistance=0.05;

referenceVector=[0,0,1];

maxAngularDistance=5;

[model1,inlierIndices,outlierIndices] = pcfitplane(pc,maxDistance,referenceVector,maxAngularDistance);

plane1 = select(ptCloud,inlierIndices);

hold on;

plot(model1);

The plane that I obtain is very far from the ground. Does anyone can help me? I attach the result I get and the .pcd that I am using

Thanks in advance

[L]

Hello Marcos,

I have a similar problem, only I want to extract the closest plane/surface. Did you get some answers or solutions for this problem.

Thank you.

L