planeModel

Object for storing a parametric plane model

Description

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

Creation

Syntax

model = planeModel(Parameters)

Description

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

Input Arguments

Parameters — Plane parameters

1-by-4 scalar vector

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

These properties are read-only.

Parameters — Plane model parameters

1-by-4 vector

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

Normal — Normal vector of the plane

1-by-3 vector

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

planeModel.plot

Plot plane in a figure window

Examples

Detect Multiple Planes from Point Cloud

Load the point cloud.

load('object3d.mat')

Display and label the point cloud.

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')