matlab点云处理函数

Posted 2021-11-30 yibeimingyue

1. pcread: 输入文件名，返回pointCloud类（用于存储点云）。eg: pcloud = pcread(“filename.ply”) 
2. pcshow: 输入pointCloud类，展示该点云图。eg: pcshow(pcloud) 
3. pcshowpair: 输入两个pointCloud类，一起展示两个点云图。eg: pcshowpair(pcloud1,pcloud2)。 
4. pcregrigid: ICP算法求取两个点云图之间的转移矩阵，输入两个点云图，返回一个转移矩阵。eg: trans = pcregrigid(moving_pcloud, fixed_pcloud)。 

tform = pcregrigid(moving,fixed) returns a rigid transformation that registers a moving point cloud to a fixed point cloud.

[tform,movingReg] = pcregrigid(moving,fixed) additionally returns the transformed point cloud that aligns with the fixed point cloud.
5. pctransform: 旋转一个点云图，输入一个需要旋转的点云图，以及旋转矩阵，返回旋转之后的点云图。eg: tranformed_cloud=pctransform(pcloud,trans)。 
6. findNearestNeighbors: 在给定点云图中寻找指定点的k个最近邻，返回在点云图中的索引值以及距离。eg: [indice, dist] = findNearestNeighbors(pcloud, pointCloud.Location, k) 

https://blog.csdn.net/yep3666/article/details/83149384