点云空洞边缘提取matlab代码

以下是一份基于MATLAB的点云空洞边缘提取代码，使用了PCL库中的相关函数：

%% Load point cloud data
pcd = pcread('point_cloud.pcd');

%% Convert point cloud to organized format
organized_pcd = pointCloud(pcd.Location,'Color',pcd.Color);

%% Remove NaN values from point cloud
organized_pcd = removeInvalidPoints(organized_pcd);

%% Create search object for nearest neighbor search
search_obj = KDTreeSearcher(organized_pcd.Location);

%% Compute normal vectors for point cloud
normals = pcnormals(organized_pcd);

%% Extract indices of points with lower than average normal vector z-component
z_thresh = mean(normals(:,3))-std(normals(:,3));
z_idx = find(normals(:,3) < z_thresh);

%% Find connected components of points with lower than average normal vector z-component
CC = bwconncomp(false(size(organized_pcd.Location)));
for i = 1:length(z_idx)
    idx = z_idx(i);
    [row,col] = ind2sub(size(organized_pcd.Location),idx);
    [indices,distances] = knnsearch(search_obj,organized_pcd.Location(idx,:),'K',10);
    neighbors = indices(2:end);
    neighbor_normals = normals(neighbors,:);
    if all(neighbor_normals(:,3) > z_thresh)
        CC.PixelIdxList{end+1} = idx;
        CC.NumObjects = CC.NumObjects + 1;
    end
end

%% Extract boundary edges of connected components
boundary_edges = [];
for i = 1:CC.NumObjects
    [rows,cols] = ind2sub(size(organized_pcd.Location),CC.PixelIdxList{i});
    min_row = min(rows);
    max_row = max(rows);
    min_col = min(cols);
    max_col = max(cols);
    if (min_row > 1) && (max_row < size(organized_pcd.Location,1)) && (min_col > 1) && (max_col < size(organized_pcd.Location,2))
        region = false(size(organized_pcd.Location));
        region(min_row:max_row,min_col:max_col) = true;
        boundary = bwboundaries(region);
        boundary = boundary{1};
        boundary_edges = [boundary_edges; boundary];
    end
end

%% Visualize boundary edges
figure;
pcshow(organized_pcd.Location,organized_pcd.Color);
hold on;
plot3(organized_pcd.Location(boundary_edges,1),organized_pcd.Location(boundary_edges,2),organized_pcd.Location(boundary_edges,3),'b.');

上述代码将点云数据读入并转换为有序格式，然后使用PCL库中的函数计算法向量、提取空洞区域并提取边缘。最后，可视化边缘结果。请注意，PCL库需要安装和配置才能在MATLAB中使用。