How to rotate or align point cloud ?
조회 수: 39 (최근 30일)
이전 댓글 표시
Excuse me everyone! I have point cloud as shown in the figure. I want to rotate to the horizontal plane. The rotation point is the middle. How can I do it ? Thank you very much.
댓글 수: 0
채택된 답변
Matt J
2021년 12월 25일
편집: Matt J
2021년 12월 26일
Since your point cloud is is not perfectly coplanar, you will need to fit a plane to it in order to determine the necessary rotation. You can do that with planarFit() from this downloadable package:
pfit=planarFit(plyRoi.Location.');
Having done this, you can also use some of the Hidden methods of the pfit object to do the rotation:
XYZ=plyRoi.Location;
x0=mean(XYZ);
R=pfit.vecrot(pfit.normal,[0,0,1]); %compute 3x3 rotation matrix
result=pointCloud((XYZ-x0)*R.'+x0); %rotated point cloud
댓글 수: 14
Matt J
2021년 12월 26일
편집: Matt J
2021년 12월 26일
Here is the code I used, and the results I obtained,
XYZ=plyRoi.Location;
pfit=planarFit(XYZ');
x0=mean(XYZ);
R=pfit.vecrot(pfit.normal,[0,0,1]); %compute 3x3 rotation matrix
result=num2cell((XYZ-x0)*R'+x0,1); %rotated point cloud
[hF,h1]=plot(pfit); hold on
h2=scatter3(result{:},'filled','MarkerFaceColor','g'); hold off
axis(0.07*[-1,1,-1,1,-1,0])
view(-25,3)
legend([h1,hF,h2],'Old Cloud','Plane Fit','New Cloud',...
'location','north')
추가 답변 (1개)
Image Analyst
2021년 12월 25일
You forgot to attach your data, which would have made it easier.
So I'd guess at something like
% Fit a line through the data.
coefficients = polyfit(x, y, 1);
% Then get the mean y
meany = mean(y);
% Get a fitted y
fittedy = polyval(coefficients, x);
% Then subtract the fitted values and add the vertical offset.
rotatedy = y - fittedy + meany;
plot(x, rotatedy, '.', 'MarkerSize', 10);
댓글 수: 9
참고 항목
카테고리
Help Center 및 File Exchange에서 Point Cloud Processing에 대해 자세히 알아보기
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!