clc;

clear all;

% Path to the PLY file

plyFilePath1 = 'G:\My Drive\Hospital\campaign 2024\incision p2\point clouds\point1.ply';

plyFilePath2 = 'G:\My Drive\Hospital\campaign 2024\incision p2\point clouds\Gal-ad - Cloud.ply';

% Specify the output PLY file path

outputFilePath = 'G:\My Drive\Hospital\campaign 2024\incision p2\point clouds\final\pointCloud.ply';

% Read and rotate the point cloud

Rvector1 = [0,0,90];

Rvector2 = [90,0,0];

rotatedPtCloud1 = readAndRotatePointCloud(plyFilePath1,Rvector1);

rotatedPtCloud2 = readAndRotatePointCloud(plyFilePath2,Rvector2);

displayPointCloud(rotatedPtCloud1);

% displayPointCloud(rotatedPtCloud2);

% Scale the point cloud

scaledPtCloud1 = scalePointCloud (rotatedPtCloud1,1.5);

scaledPtCloud2 = scalePointCloud (rotatedPtCloud2,1);

% Call the function to center the point cloud at (0, 0, 0)

centeredPtCloud1 = centerPointCloud(scaledPtCloud1);

centeredPtCloud2 = centerPointCloud(scaledPtCloud2);

% Define coordinate ranges for filtering (X, Y, Z) for first point cloud

xRange1 = [-3 2];

yRange1 = [-2 1];

zRange1 = [-2 2];

% Filter the point cloud based on specified coordinate ranges

filteredPtCloud2 = filterPointCloud(centeredPtCloud2, xRange1, yRange1, zRange1);

% Translate the point clouds

translationVector1 = [-1.7, 0.5, 1.4];

translationVector2 = [0, 0, 0];

% Call the function to translate the point cloud

translatedPtCloud1 = translatePointCloud(centeredPtCloud1, translationVector1);

translatedPtCloud2 = translatePointCloud(filteredPtCloud2, translationVector2);

% displayPointCloud(translatedPtCloud1);

% displayPointCloud(translatedPtCloud2);

% Combine point clouds

combinedPtCloud = mergePointClouds(translatedPtCloud1, translatedPtCloud2);

displayPointCloud(combinedPtCloud);

% % Save the filtered point cloud

% saveFilteredPointCloud(combinedPtCloud, outputFilePath)

function displayPointCloud(ptCloud)

% Create a figure to display the point cloud

figure;

pcshow(ptCloud);

title('Rotated 3D Point Cloud');

xlabel('X');

ylabel('Y');

zlabel('Z');

grid on;

axis equal; % Equal scaling for all axes

view(3); % Set the default 3D view

en

function combinedPtCloud = mergePointClouds(ptCloud1, ptCloud2)

% Check if both inputs are valid pointCloud objects

if ~isa(ptCloud1, 'pointCloud') || ~isa(ptCloud2, 'pointCloud')

error('Both inputs must be valid pointCloud objects.');

end

% Concatenate the point locations (XYZ coordinates) of both point clouds

combinedPoints = [ptCloud1.Location; ptCloud2.Location];

% Check if both point clouds have color data

if ~isempty(ptCloud1.Color) && ~isempty(ptCloud2.Color)

% Concatenate the color data if both point clouds have colors

combinedColors = [ptCloud1.Color; ptCloud2.Color];

% Create a new point cloud object with the combined points and colors

combinedPtCloud = pointCloud(combinedPoints, 'Color', combinedColors);

else

% If no color data is available, create the point cloud without color

combinedPtCloud = pointCloud(combinedPoints);

end

end

%% Function to save the filtered point cloud to a PLY file

function saveFilteredPointCloud(filteredPtCloud, outputFilePath)

% Save the filtered point cloud to a PLY file

pcwrite(filteredPtCloud, outputFilePath, 'PLYFormat', 'Binary');

disp(['Filtered point cloud saved to: ', outputFilePath]);

end