本系列博客將介紹Matlab中機(jī)器視覺工具箱的應(yīng)用，部分案例，主要關(guān)于點(diǎn)云處理方面，更多內(nèi)容見Matlab官方文檔。如有翻譯錯誤請批評指正！所有代碼經(jīng)自己運(yùn)行測試通過。轉(zhuǎn)載請注明鏈接 ：http://blog.csdn.net/kaspar1992

1. Hide and Show 3-D Point Cloud Figure - 顯示和隱藏3D圖

player=pcplayer(ptCloud.XLimits,ptCloud.YLimits,ptCloud.ZLimits);創(chuàng)建顯示坐標(biāo)系
>> hide(player)            // 隱藏>> show(player)            // 顯示>> view(player,ptCloud);   // 顯示點(diǎn)云
點(diǎn)云顯示也可用 pcshow(ptCloud).
2. Align Two Point Clouds -點(diǎn)云匹配
首先讀入點(diǎn)云 teapot.ply , 然后創(chuàng)建旋轉(zhuǎn)及平移矩陣 A ，使用函數(shù) pctrandform 變換點(diǎn)云。 點(diǎn)云匹配采用函數(shù) pcregrigid ,求出匹配成功后的矩陣。
A=[cos(pi/6) sin(pi/6) 0 0; -sin(pi/6) cos(pi/6) 0 0; 0 0 1 0; 5 5 10 1];tform1=affine3d(A);ptCloudTformed=pctransform(ptCloud,tform1);figurepcshow(ptCloudTformed);title('Transformed Teapot');tform=pcregrigid(ptCloudTformed,ptCloud,'Extrapolate',true);          //求點(diǎn)云匹配矩陣disp(tform1.T);tform2=invert(tform);disp(tform2.T);
                                                                
可以發(fā)現(xiàn)矩陣完全一致，匹配正確。
3. Merge Two Identical Point Clouds Using Box Grid Filter -用網(wǎng)格濾波合并兩個點(diǎn)云
>> ptCloudA=pointCloud(100*rand(1000,3));>> ptCloudB=copy(ptCloudA);>> ptCloudC=pcmerge(ptCloudA,ptCloudB,1);>> pcshow(ptCloudC);
4. Remove Outliers from Noisy Point Cloud -從點(diǎn)云中除去離群值
gv=0:0.01:1;[X,Y]=meshgrid(gv,gv);ptCloud=pointCloud([X( : ),Y( : ),0.5*ones(numel(X),1)]);   //創(chuàng)建點(diǎn)云平面figurepcshow(ptCloud);title('Original Data');noise=rand(500,3);ptCloudA=pointCloud([ptCloud.Location;noise]);             //生成隨機(jī)噪音點(diǎn)figurepcshow(ptCloudA);title('Noisy Data');% Remove outliersptCloudB=pcdenoise(ptCloudA);                               //除去離群值figurepcshow(ptCloudB);title('Denoised Data');
5. Downsample Point Cloud Using Box Grid Filter -用格子濾波進(jìn)行降采樣
ptCloud=pcread('teapot.ply');gridStep=0.1;ptCloudA=pcdownsample(ptCloud,'gridAverage',gridStep);         //box grid filter 降采樣figure;pcshow(ptCloud);figure;pcshow(ptCloudA);stepSize=floor(ptCloud.Count/ptCloudA.Count);                //固定步長降采樣indices=1:stepSize:ptCloud.Count;ptCloudB=select(ptCloud,indices);figure;pcshow(ptCloudB);