plot

Plot parametric model

Syntax

plot(model)

plot(model,Name=Value)

H = plot(___)

Description

plot(model) plots a model within the axis limits of the current figure. H is the handle to surf, a 3-D shaded surface plot or patch, a filled polygon region.

plot(model,Name=Value) specifies options using one or more name-value arguments in addition to argument from previous syntax. For example, plot(model,Color="r") sets the color of the plot to red.

H = plot(___) specifies options using one or more name-value arguments. For example, plot(model,Color="r") sets the color of the plot to red.

Examples

Detect Cylinder in Point Cloud

Load a MAT file containing a point cloud into the workspace.

load("object3d.mat");

Display the point cloud.

figure
pcshow(ptCloud)
xlabel("X(m)")
ylabel("Y(m)")
zlabel("Z(m)")
title("Detect a Cylinder in a Point Cloud")

Set the maximum point-to-cylinder distance for cylinder fitting to 5mm.

maxDistance = 0.005;

Specify a region of interest (ROI) to constrain the fitting function.

roi = [0.4 0.6; -inf 0.2; 0.1 inf];
sampleIndices = findPointsInROI(ptCloud,roi);

Set the orientation constraint for the fitting function

referenceVector = [0 0 1];

Detect the cylinder in the specified ROI of the point cloud and extract it.

model = pcfitcylinder(ptCloud,maxDistance,referenceVector, ...
        SampleIndices=sampleIndices);

Plot the model of the detected cylinder.

hold on
plot(model)

Detect Plane in Point Cloud

Load a MAT file containing a point cloud.

load("object3d.mat");

Display the point cloud into the workspace.

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 for plane fitting to 2cm.

maxDistance = 0.02;

Specify the normal vector plane for the fitted plane.

referenceVector = [0 0 1];

Set the maximum angular distance for the fitted plane to 5 degrees.

maxAngularDistance = 5;

Detect the plane, the table, in the point cloud and extract it.

model = pcfitplane(ptCloud,maxDistance,referenceVector,maxAngularDistance);

Plot the plane.

hold on
plot(model)

Detect Sphere in Point Cloud

Load point cloud.

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)

Input Arguments

model — Parametric model

cylinder model object | plane model object | sphere model object

Parametric model returned by the cylinderModel, planeModel, or the sphereModel object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: plot(model,Color="r") sets the color of the plot to red.

Parent — Output axes

gca (default) | axes

Output axes, specified as the current axes for displaying the visualization.

Color — Color of the plane

'red' (default) | 1-by-3 RGB vector | short name of color | long name of color

Color of the plane, specified as a 1-by-3 RGB vector or a short or long color name.

Color Name	Short Name	RGB Triplet	Appearance
'red'	'r'	[1 0 0]
'green'	'g'	[0 1 0]
'blue'	'b'	[0 0 1]
'cyan'	'c'	[0 1 1]
'magenta'	'm'	[1 0 1]
'yellow'	'y'	[1 1 0]
'black'	'k'	[0 0 0]
'white'	'w'	[1 1 1]

Output Arguments

H — Handle to plot

handle

Handle to a plot, returned as a surf 3-D shaded surface plot or as a patch filled polygon region.

Version History

Introduced in R2015b