点云空洞内部边缘matlab代码提取
时间: 2023-12-28 07:04:52 浏览: 34
点云空洞内部边缘提取可以使用MATLAB中的pointCloud函数来实现。具体步骤如下:
1. 使用pointCloud函数读入点云数据并可视化。
```matlab
ptCloud = pcread('pointCloud.ply');
pcshow(ptCloud);
```
2. 使用pcsegdist函数对点云进行分割,并得到每个点到最近邻点的距离。
```matlab
maxDistance = 0.1;
[labels,~,~,distances] = pcsegdist(ptCloud,maxDistance);
```
3. 使用pcboundary函数得到点云边界。
```matlab
boundaries = pcboundary(ptCloud,labels);
```
4. 对于每个空洞,找到位于空洞内部的点以及和空洞相邻的点。
```matlab
holes = find(labels == 0);
for i = 1:numel(holes)
holeIdx = holes(i);
holeDistances = distances(holeIdx,:);
holeNeighbors = find(holeDistances <= maxDistance);
holeBoundary = boundaries(holeIdx,:);
holeBoundaryIdx = knnsearch(ptCloud.Location,holeBoundary);
holeBoundaryNeighborIdx = knnsearch(ptCloud.Location,holeBoundary + [0 0 maxDistance]);
holeInteriorIdx = setdiff(holeNeighbors,holeBoundaryIdx);
holeNeighborIdx = setdiff(holeNeighbors,holeInteriorIdx);
end
```
5. 对于每个空洞,找到空洞内部点与空洞边界点之间的边缘。
```matlab
holeInterior = ptCloud.Location(holeInteriorIdx,:);
holeBoundary = ptCloud.Location(holeBoundaryIdx,:);
holeBoundaryNeighbors = ptCloud.Location(holeBoundaryNeighborIdx,:);
holeEdges = [];
for j = 1:size(holeInterior,1)
interiorPoint = holeInterior(j,:);
[~,minIdx] = min(pdist2(holeBoundary,interiorPoint));
boundaryPoint = holeBoundary(minIdx,:);
if isempty(find(ismember(holeBoundaryNeighbors,boundaryPoint,'rows'),1))
holeEdges = [holeEdges; interiorPoint boundaryPoint];
end
end
```
最终得到的holeEdges即为空洞内部边缘。
完整代码如下:
```matlab
ptCloud = pcread('pointCloud.ply');
pcshow(ptCloud);
maxDistance = 0.1;
[labels,~,~,distances] = pcsegdist(ptCloud,maxDistance);
boundaries = pcboundary(ptCloud,labels);
holes = find(labels == 0);
for i = 1:numel(holes)
holeIdx = holes(i);
holeDistances = distances(holeIdx,:);
holeNeighbors = find(holeDistances <= maxDistance);
holeBoundary = boundaries(holeIdx,:);
holeBoundaryIdx = knnsearch(ptCloud.Location,holeBoundary);
holeBoundaryNeighborIdx = knnsearch(ptCloud.Location,holeBoundary + [0 0 maxDistance]);
holeInteriorIdx = setdiff(holeNeighbors,holeBoundaryIdx);
holeNeighborIdx = setdiff(holeNeighbors,holeInteriorIdx);
holeInterior = ptCloud.Location(holeInteriorIdx,:);
holeBoundary = ptCloud.Location(holeBoundaryIdx,:);
holeBoundaryNeighbors = ptCloud.Location(holeBoundaryNeighborIdx,:);
holeEdges = [];
for j = 1:size(holeInterior,1)
interiorPoint = holeInterior(j,:);
[~,minIdx] = min(pdist2(holeBoundary,interiorPoint));
boundaryPoint = holeBoundary(minIdx,:);
if isempty(find(ismember(holeBoundaryNeighbors,boundaryPoint,'rows'),1))
holeEdges = [holeEdges; interiorPoint boundaryPoint];
end
end
plot3(holeEdges(:,1),holeEdges(:,2),holeEdges(:,3),'r.','MarkerSize',10);
end
```