# pcfitcylinder

Fit cylinder to 3-D point cloud

## Syntax

## Description

fits
a cylinder to a point cloud with a maximum allowable distance from
an inlier point to the cylinder. This function uses the M-estimator
SAmple Consensus (MSAC) algorithm to find the cylinder.`model`

= pcfitcylinder(`ptCloudIn`

,`maxDistance`

)

fits
a cylinder to the point cloud with additional orientation constraints
specified by the 1-by-3 reference orientation input vector.`model`

= pcfitcylinder(`ptCloudIn`

,`maxDistance`

,`referenceVector`

)

additionally
specifies the maximum allowed absolute angular distance.`model`

= pcfitcylinder(`ptCloudIn`

,`maxDistance`

,`referenceVector`

,`maxAngularDistance`

)

`[`

additionally
returns linear indices to the inlier and outlier points in the point
cloud input.`model`

,`inlierIndices`

,`outlierIndices`

]
= pcfitcylinder(`ptCloudIn`

,`maxDistance`

)

`[___,`

additionally
returns the mean error of the distance of the inlier points to the
model.`meanError`

] =
pcfitcylinder(`ptCloudIn`

,`maxDistance`

)

`[___] = pcfitcylinder(___,`

uses
additional options specified by one or more `Name,Value`

)`Name,Value`

pair
arguments.

## Examples

## Input Arguments

## Output Arguments

## Algorithms

The function returns a geometric model that describes the cylinder. This function uses the M-estimator SAmple Consensus (MSAC) algorithm to find the cylinder. The MSAC algorithm is a variant of the RANdom SAmple Consensus (RANSAC) algorithm.

The fitting algorithm for the `pcfitcylinder`

function
requires point cloud normals. Therefore, if the `Normal`

property
for the input point cloud is empty, the function fills it. When the
function fills the `Normal`

property, it uses six points
to fit the local cylinder. If six points do not work and the fitting
fails, consider calling the `pcnormals`

function
which enables you to select the number of points to use.

## References

[1] Torr, P. H. S., and A. Zisserman. “MLESAC:
A New Robust Estimator with Application to Estimating Image Geometry.” *Computer
Vision and Image Understanding*. Volume 78, Issue 1, April
2000, pp. 138-156.

## Extended Capabilities

## Version History

**Introduced in R2015b**

## See Also

### Objects

### Functions

`pcfitplane`

|`pcfitsphere`

|`pcplayer`

|`pcshow`

|`pcwrite`

|`pcread`

|`pcmerge`

|`pctransform`

|`pcregistericp`

|`pcdenoise`