1. pcread: 輸入文件名，返回pointCloud類（用于存儲(chǔ)點(diǎn)云）。eg: pcloud = pcread(“filename.ply”)?
2. pcshow: 輸入pointCloud類，展示該點(diǎn)云圖。eg: pcshow(pcloud)?
3. pcshowpair: 輸入兩個(gè)pointCloud類，一起展示兩個(gè)點(diǎn)云圖。eg: pcshowpair(pcloud1,pcloud2)。?
4. pcregrigid: ICP算法求取兩個(gè)點(diǎn)云圖之間的轉(zhuǎn)移矩陣，輸入兩個(gè)點(diǎn)云圖，返回一個(gè)轉(zhuǎn)移矩陣。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: 旋轉(zhuǎn)一個(gè)點(diǎn)云圖，輸入一個(gè)需要旋轉(zhuǎn)的點(diǎn)云圖，以及旋轉(zhuǎn)矩陣，返回旋轉(zhuǎn)之后的點(diǎn)云圖。eg: tranformed_cloud=pctransform(pcloud,trans)。?
6. findNearestNeighbors: 在給定點(diǎn)云圖中尋找指定點(diǎn)的k個(gè)最近鄰，返回在點(diǎn)云圖中的索引值以及距離。eg: [indice, dist] = findNearestNeighbors(pcloud, pointCloud.Location, k)?

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

轉(zhuǎn)載于:https://www.cnblogs.com/yibeimingyue/p/10859337.html

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