Fit plane to 3-D point cloud

`model = pcfitplane(ptCloudIn,maxDistance)`

`model = pcfitplane(ptCloudIn,maxDistance,referenceVector)`

`model = pcfitplane(ptCloudIn,maxDistance,referenceVector,maxAngularDistance)`

```
[model,inlierIndices,outlierIndices]
= pcfitplane(ptCloudIn,maxDistance)
```

```
[___,meanError] =
pcfitplane(ptCloudIn,maxDistance)
```

`[___] = pcfitplane(ptCloudIn,maxDistance,Name,Value)`

fits
a plane to a point cloud that has a maximum allowable distance from
an inlier point to the plane. The function returns a geometrical model
that describes the plane.`model`

= pcfitplane(`ptCloudIn`

,`maxDistance`

)

This function uses the M-estimator SAmple Consensus (MSAC) algorithm to find the plane. The MSAC algorithm is a variant of the RANdom SAmple Consensus (RANSAC) algorithm.

fits
a plane to a point cloud that has additional orientation constraints
specified by the 1-by-3 `model`

= pcfitplane(`ptCloudIn`

,`maxDistance`

,`referenceVector`

)`referenceVector`

input.

fits
a plane to a point cloud that has a specified maximum angular distance.`model`

= pcfitplane(`ptCloudIn`

,`maxDistance`

,`referenceVector`

,`maxAngularDistance`

)

`[`

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

,`inlierIndices`

,`outlierIndices`

]
= pcfitplane(`ptCloudIn`

,`maxDistance`

)

`[___,`

additionally
returns the mean error of the distance of inlier points to the model,
using any of the preceding syntaxes.`meanError`

] =
pcfitplane(`ptCloudIn`

,`maxDistance`

)

`[___] = pcfitplane(`

uses
additional options specified by one or more `ptCloudIn`

,`maxDistance`

,`Name,Value`

)`Name,Value`

pair
arguments.

[1] Torr, P. H. S., and A. Zisserman. “MLESAC:
A New Robust Estimator with Application to Estimating Image Geometry.” *Computer
Vision and Image Understanding*. 2000.

`affine3d`

| `pcdenoise`

| `pcfitcylinder`

| `pcfitsphere`

| `pcmerge`

| `pcplayer`

| `pcread`

| `pcregistericp`

| `pcshow`

| `pctransform`

| `pcwrite`

| `planeModel`

| `pointCloud`