Documentation

This is machine translation

Translated by Microsoft
Mouseover text to see original. Click the button below to return to the English verison of the page.

Note: This page has been translated by MathWorks. Please click here
To view all translated materals including this page, select Japan from the country navigator on the bottom of this page.

cylinderModel class

Object for storing a parametric cylinder model

Syntax

model = cylinderModel(params)

Description

Object for storing a parametric cylinder model.

Construction

model = cylinderModel(params) constructs a parametric cylinder model from the 1-by-7 params input vector that describes a cylinder.

Input Arguments

expand all

Cylinder parameters, specified as a 1-by-7 scalar vector containing seven parameters [x1,y1,z1,x2,y2,z2,r] that desribe a cylinder.

  • [x1,y1,z1] and [x2,y2,z2] are the centers of each end-cap surface of the cylinder.

  • r is the radius of the cylinder.

Properties

expand all

These properties are read-only.

Cylinder model parameters, stored as a 1-by-7 scalar vector that describes a cylinder [x1,y1,z1,x2,y2,z2,r] that describe a cylinder.

  • [x1,y1,z1] and [x2,y2,z2] are the centers of each end-cap surface of the cylinder.

  • r is the radius of the cylinder.

Center of cylinder, stored as a 1-by-3 vector.

Height of cylinder, stored as a scalar.

Radius of cylinder, stored as a scalar.

Methods

plotPlot cylinder in a figure window

Examples

expand all

Load the point cloud.

load('object3d.mat');

Display 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 (5 mm) for the cylinder fitting.

maxDistance = 0.005;

Set the region of interest to constrain the search.

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

Set the orientation constraint.

referenceVector = [0,0,1];

Detect the cylinder in the point cloud and extract it.

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

Plot the cylinder.

hold on
plot(model)

Introduced in R2015b