plot

Plot cuboid model

Syntax

plot(model)

plot(model,'Parent',ax)

H = plot(___)

Description

plot(model) plots a cuboid model within the axes limits of the current figure.

plot(model,'Parent',ax) plots a cuboid model on a specified output axes.

H = plot(___) additionally returns the cuboid model plot (figure) as a patch object.

Examples

Detect Cuboid in Point Cloud

Detect a cuboid in a point cloud using pcfitcuboid function. The function stores the cuboid parameters as a cuboidModel object.

Read point cloud data into the workspace.

ptCloud = pcread('highwayScene.pcd');

Search the point cloud within a specified region of interest (ROI). Create a point cloud of only the detected points.

roi = [-30 30 -20 30 -8 13];
in = findPointsInROI(ptCloud,roi);
ptCloudIn = select(ptCloud,in);

Plot the point cloud of detected points.

   figure
   pcshow(ptCloudIn.Location)
   xlabel('X(m)')
   ylabel('Y(m)')
   zlabel('Z(m)')
   title('Detected Points in ROI')

Find the indices of the points in a specified ROI within the point cloud.

roi = [9.6 13.8 7.9 9.3 -2.5 3];
sampleIndices = findPointsInROI(ptCloudIn,roi);

Fit a cuboid to the selected set of points in the point cloud.

 model = pcfitcuboid(ptCloudIn,sampleIndices);
  figure
  pcshow(ptCloudIn.Location)
  xlabel('X(m)')
  ylabel('Y(m)')
  zlabel('Z(m)')
  title('Detect a Cuboid in a Point Cloud')

Plot the cuboid box in the point cloud.

hold on
plot(model)

Display the internal properties of the cuboidModel object.

model

model = 
  cuboidModel with properties:

     Parameters: [11.4873 8.5997 -1.6138 3.6713 1.3220 1.7576 0 0 0.9999]
         Center: [11.4873 8.5997 -1.6138]
     Dimensions: [3.6713 1.3220 1.7576]
    Orientation: [0 0 0.9999]

Input Arguments

model — Cuboid model

cuboidModel object

Cuboid model, specified as a cuboidModel object.

ax — Output axes

gca (default) | Axes object

Output axes, specified as an Axes object, on which to display the cuboid model. For a list of properties, see Axes Properties.

Output Arguments

H — Patch object

patch object

Patch object, returned as a patch object.

Version History

Introduced in R2020b