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    %% Detect Sphere from Point Cloud
% Load the point cloud.

% Copyright 2015 The MathWorks, Inc.

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 a maximum point-to-sphere distance of 1cm for sphere fitting.
maxDistance = 0.01;
%%
% Set the region of interest to constrain the search.
roi = [-inf,0.5;0.2,0.4;0.1,inf];
sampleIndices = findPointsInROI(ptCloud,roi);
%%
% Detect the sphere, a globe, and extract it from the point cloud.
[model,inlierIndices] = pcfitsphere(ptCloud,maxDistance,'SampleIndices',sampleIndices);
globe = select(ptCloud,inlierIndices);
%%
% Plot the globe.
figure
pcshow(globe)
title('Globe Point Cloud')