Fitting plane to a 3D point cloud using pcfitplane

I am trying to fit plane to a 3D point cloud using the pcfitplane method.

Is this the correct approach.

When I plot this I am not getting any plane in the window.

ptCloud1 = pointCloud(rand(200,3,'single'));

figure
pcshow(ptCloud1, 'MarkerSize',50)

[model, inlier, outlier] = pcfitplane(ptCloud1,0.05,[0,0,1], 5);

plane1 = select(ptCloud1, inlier);

pcshow(plane1)

% p1 = pointCloud(a);

Output : -

[mithu max]

Can someone provide the mat function code for pcfitplane

Answer 1

[Witek Jachimczyk]

You're most likely not getting anything because you might have picked a normal vector that doesn't work out or your max distance of individual points from the plane model is too tight. You can skip supplying the reference normal vector.

HTH

Witek