RANSAC extraction plane (matlab built-in function)

One 、 brief introduction

MATLAB There are built-in RANSAC Functions that extract planes , Although the function and PCL、CloudCompare Medium RANSAC The method is slightly rough , But it can also meet our requirements .

The built-in function is RANSAC A variant of the algorithm , Its biggest advantage is that it uses the maximum likelihood method （MLE） To evaluate the error of external points , Instead of just depending on the number of interior points .

Two 、 Related parameters

maxDistance: The maximum distance from the interior point to the plane , Specify as scalar value . The unit of the specified distance should be consistent with that of the point cloud .
referenceVector: Reference direction constraint , Designated as 1 × 3 vector .
maxAngularDistance: The maximum absolute angular distance between the normal vector of the fitting plane and the reference direction , Scalar values in degrees specify .

In addition, there are more parameter settings to view MATLAB Help document for .

3、 ... and 、 Implementation code

FitPlane.m

clc
clear
close all