写一个道路激光点云边线提取的matlab代码

以下是一个简单的道路激光点云边线提取的Matlab代码示例：

% 读取点云数据
pcl = pcread('pointcloud.pcd');

% 滤波
pcl = pcdenoise(pcl);

% 降采样
gridSize = 0.1;
pcl = pcdownsample(pcl, 'gridAverage', gridSize);

% 转换为二维平面坐标系
xy = pcl.Location(:, 1:2);

% 进行聚类分割
minPts = 5;
epsilon = 0.5;
[labels, numClusters] = dbscan(xy, epsilon, minPts);

% 绘制聚类结果
figure;
gscatter(xy(:,1), xy(:,2), labels);
title('Clustered Data Points');

% 提取每个聚类的边界
boundaries = cell(numClusters, 1);
for i = 1:numClusters
    cluster = xy(labels == i, :);
    k = boundary(cluster(:,1), cluster(:,2), 0.2);
    boundaries{i} = cluster(k, :);
end

% 绘制边界
hold on;
for i = 1:numClusters
    plot(boundaries{i}(:,1), boundaries{i}(:,2), 'k');
end
title('Clustered Data Points with Boundaries');

该代码使用了DBSCAN聚类算法对点云数据进行分割，然后提取每个聚类的边界并绘制出来。该算法的参数可以根据具体数据进行调整。