normalRotation
Description
returns the geometric transformation object for a normal vector of a plane to the
reference vector, tform
= normalRotation(model
,referenceVector
)referenceVector
. model
is a planeModel
.
Examples
Transform Point Cloud
Construct a velodyneFileReader object.
veloReader = velodyneFileReader('lidarData_ConstructionRoad.pcap','HDL32E');
Read the first frame of lidar data.
frameNumber = 1; ptCloud = readFrame(veloReader,frameNumber);
Find the ground plane.
maxDistance = 0.4; referenceVector = [0 0 1]; groundPlane = pcfitplane(ptCloud,maxDistance,referenceVector);
Transform the ground plane such that it is parallel to the X-Y plane.
tform = normalRotation(groundPlane,referenceVector);
Transform the point cloud.
ptCloudOut = pctransform(ptCloud,tform);
Display the original and transformed point cloud.
planeParams = groundPlane.Parameters * tform.T; transformedPlane = planeModel(planeParams); figure; pcshowpair(ptCloudOut,ptCloud); hold on; plot(groundPlane, 'Color', 'magenta'); plot(transformedPlane, 'Color', 'green');
Input Arguments
model
— Parametric plane model
plane model
Parametric plane model returned by planeModel
.
referenceVector
— Reference vector
1-by-3 vector
Reference vector, specified as a 1-by-3 vector.
Output Arguments
tform
— Geometric transformation
rigidtform3d
object
Geometric transformation, returned as a rigidtform3d
object. The rigidtform3d
object
describes the rigid 3-D transformation that aligns the normal vector of a
plane to referenceVector
.
Version History
Introduced in R2020bR2022b: Returns rigidtform3d
object
Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the
premultiply convention. Accordingly, the normalRotation
function now returns tform
as a rigidtform3d
object, which uses the premultiply convention. Before,
the function returned tform
as a rigid3d
object, which uses the postmultiply convention. For more information, see
Migrate Geometric Transformations to Premultiply Convention.
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