MATLAB: Extract planes from point cloud

pcfitplanepointcloud

I have a point cloud and I want to extract series of planes through which the data passes. for each such plane, one can identify the points from scan data which belong to the plane.

how i do that?

Best Answer

Here is my attempt

Here is what it produces:

See the attached script

Related Solutions

MATLAB: Fill cylinder inside a matrix

Suppose the two end points are r1=[x1,y1,z1], r2=[x2,y2,z2]

[X,Y,Z] = ndgrid(x,y,z); 
dXYZ=[X(:),Y(:),Z(:)].'-r1(:);
u=r1-r2;
u=repmat(u(:)./norm(u),1,nx*ny*nz);
mat=vecnorm( cross(dXYZ,u) ,2,1 )<=R;
mat=reshape(mat,nx,ny,nz);

MATLAB: Remove outliers from a circumference

Here is an idea:

x0 = mean(x);                          % Choose some center point (maybe approximately)
y0 = mean(y);
[t,r] = cart2pol(x,y);                 % convert your data to polar system
[~,ix] = sort(t);                      % sort your data by angle
tol = 0.4;                             % some tolerance
ix1 = find(diff(r(ix) > tol);          % find values where difference of radius is too big
ind = ix(ix1);                         % indices of outlier points
plot3(x(ind),y(ind),z(ind),'or')

Best Answer

Related Solutions

MATLAB: Fill cylinder inside a matrix

MATLAB: Remove outliers from a circumference

Related Question