点云滤波程序matlab

以下是一个基于matlab的点云滤波程序示例：

% 读入点云数据
ptCloud = pcread('input.pcd');

% 对点云进行降采样
gridSize = 0.1;
downsampled = pcdownsample(ptCloud, 'gridAverage', gridSize);

% 移除离群点
maxDistance = 0.2;
referenceVector = [0, 0, 1];
maxAngularDistance = 5;
inliers = findNeighborsInSpecifiedRadius(downsampled.Location, maxDistance);
model = pcfitplane(downsampled, inliers);
outliers = select(downsampled, find ~ismember(1:downsampled.Count, inliers));
while outliers.Count > 0
    [inliers,~,~] = findNeighbors(model, outliers.Location, maxDistance);
    if numel(inliers) < 3
        break;
    end
    model = pcfitplane(downsampled, inliers);
    outliers = select(downsampled, find ~ismember(1:downsampled.Count, inliers));
end
pcshow(outliers);

% 输出滤波后的点云
pcwrite(outliers, 'output.pcd');

该程序实现了一个简单的点云滤波流程，包括降采样和离群点移除。具体来说，它首先读入一个PCD格式的点云文件，然后对点云进行降采样，接着移除离群点，并最终输出滤波后的点云。其中，降采样使用了matlab自带的`pcdownsample`函数；离群点移除则是使用基于RANSAC的平面拟合方法，具体实现使用了matlab自带的`pcfitplane`函数。