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算法思路是首先建立kd树,然后找到每个点距离最近的点的距离,对距离求和再求平均即可。
代码如下:
- clear all;
- close all;
- clc;
- pc = pcread('rabbit.pcd');
- pc = pcdownsample(pc,'random',0.1); %降低一下数据量
- pc_point = pc.Location'; %得到点云数据
- kdtree = vl_kdtreebuild(pc_point); %使用vlfeat建立kdtree
- dissum = 0;
- for i=1:length(pc_point)
- p_cur = pc_point(:,i);
- [index, distance] = vl_kdtreequery(kdtree, pc_point, p_cur, 'NumNeighbors',2); %寻找当前点最近的非自身点
- dissum = dissum + sqrt(distance(2)); %距离求和
- end
- avg = dissum / length(pc_point);
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