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    %% Detect Plane in Point Cloud
%
%%
% Load point cloud.

% Copyright 2015 The MathWorks, Inc.

load('object3d.mat');
%%
% Display the point cloud.
figure
pcshow(ptCloud)
xlabel('X(m)')
ylabel('Y(m)')
zlabel('Z(m)')
title('Detect a plane in a point cloud')
%%
% Set the maximum point-to-plane distance (2cm) for plane fitting.
maxDistance = 0.02;
%%
% Set the normal vector of a plane.
referenceVector = [0, 0, 1];
%%
% Set the maximum angular distance (5 degrees).
maxAngularDistance = 5;
%%
% Detect the table in the point cloud and extract it.
model = pcfitplane(ptCloud,maxDistance,referenceVector,maxAngularDistance);
%%
% Plot the plane.
hold on
plot(model)