www.gusucode.com > vision 源码程序 matlab案例代码 > vision/DetectSpherePointCloudExample.m
%% Detect Sphere from Point Cloud % %% % Load data file. load('object3d.mat'); %% % Display original 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 roi 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. hold on plot(model) figure pcshow(globe) title('Globe Point Cloud')