点云空洞边缘提取matlab代码

以下是一份简单的点云空洞边缘提取 Matlab 代码：

% Load point cloud data
ptCloud = pcread('pointcloud.ply');

% Segment out the ground plane
groundPlane = pcfitplane(ptCloud, 0.01);
ptCloudSeg = select(ptCloud, findPointsWithinROI(ptCloud, groundPlane, 0.1));

% Remove NaN points
ptCloudSeg = removeInvalidPoints(ptCloudSeg);

% Compute normals
normals = pcnormals(ptCloudSeg);

% Compute curvature
curvature = pccurvatures(ptCloudSeg, normals);

% Threshold curvature values
threshold = 0.05;
curvatureThresh = curvature > threshold;

% Dilate the binary image
se = strel('sphere', 5);
curvatureThresh = imdilate(curvatureThresh, se);

% Fill holes in the binary image
curvatureThresh = imfill(curvatureThresh, 'holes');

% Erode the binary image
curvatureThresh = imerode(curvatureThresh, se);

% Find edges of the binary image
edges = edge(curvatureThresh, 'Canny');

% Display results
figure
subplot(1,2,1); pcshow(ptCloudSeg); title('Original Point Cloud');
subplot(1,2,2); imshow(edges); title('Edges of Curvature Thresholded Point Cloud');

该代码首先加载点云数据，然后通过拟合平面来分割出地面。接着，它计算点云中每个点的法线和曲率，并对曲率值进行阈值化处理。然后，它通过膨胀、填充和侵蚀操作来提取出空洞的边缘，并最终使用 Canny 算子找到这些边缘。最后，它显示了原始点云和空洞边缘的结果图像。