www.gusucode.com > vision 源码程序 matlab案例代码 > vision/DetectSphereInPointCloudExample.m

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

% Copyright 2015 The MathWorks, Inc.

load('object3d.mat');
%% 
% Display point cloud.
figure
pcshow(ptCloud)
xlabel('X(m)')
ylabel('Y(m)')
zlabel('Z(m)')
title('Detect a sphere in a point cloud')
%%
% Set the maximum point-to-sphere distance (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 globe in the point cloud and extract it.
model = pcfitsphere(ptCloud, maxDistance, 'SampleIndices', sampleIndices);
%%
% Plot the sphere.
hold on
plot(model)