plot

R2026b

Plot cuboid model

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Syntax

plot(model)

plot(model,Name=Value)

H = plot(___)

Description

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

example

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

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

Examples

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Detect Cuboid in Point Cloud

Open Live Script

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

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`model` — Cuboid model
`cuboidModel` object

Cuboid model, specified as a cuboidModel object.

Name-Value Arguments

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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,Parent=gca) sets the output axes to the current axes in the current figure.

`Parent` — 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.

`Color` — Color of cuboid
`[245 119 41]` (default) | RGB triplet | short name of color | long name of color

Color of the cuboid, specified as an RGB triplet or a short or long color name.

Color Name	Short Name	RGB Triplet
`"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]`