[X,Y,Z] = sphere(100);
loc1 = [X(:),Y(:),Z(:)];
loc2 = 2*loc1;
ptCloud = pointCloud([loc1;loc2]);
pcshow(ptCloud)
title('Point Cloud')

minDistance = 0.5;

[labels,numClusters] = pcsegdist(ptCloud,minDistance);

pcshow(ptCloud.Location,labels)
colormap(hsv(numClusters))
title('Point Cloud Clusters')

load('drivingLidarPoints.mat')
pcshow(ptCloud)
title('Unclustered Point Cloud')

maxDistance = 0.3;
referenceVector = [0,0,1];
[~,inliers,outliers] = pcfitplane(ptCloud,maxDistance,referenceVector);

ptCloudWithoutGround = select(ptCloud,outliers,'OutputSize','full');
distThreshold = 0.5;
[labels,numClusters] = pcsegdist(ptCloudWithoutGround,distThreshold);

numClusters = numClusters+1;
labels(inliers) = numClusters;

labelColorIndex = labels+1;
pcshow(ptCloud.Location,labelColorIndex)
colormap([hsv(numClusters);[0 0 0]])
title('Point Cloud Clusters')