构建点云发矢量.txt

clear all;
A=load('shujuyuan.txt');
x=A(:,1);y=A(:,2);z=A(:,3);q=A(:,4);
R=length(A);
%定义搜索半径
rk=0.1;
V=[];

%定义临时邻域内的x,y,z点
%进行R半径邻域搜索
%定义元胞数组存储邻域点，对每个点进行邻域选择
axyzc=cell(R,1);aqc=cell(R,1);
for i=1:R
    a=0;
    ax=[];ay=[];az=[];aq=[];
    axyz=[];
   for j=1:R
    if (x(j)-x(i)).^2+(y(j)-y(i)).^2<=r^2
        a=a+1;
        ax(a)=x(j);ay(a)=y(j);az(a)=z(j);aq(i)=q(j);
    end
   end
%放入元胞数组
    axyzc{i}=[ax' ay' az'];aqc{i}=aq';
end
C=cell(R,1);%定协方差矩阵元胞
for i=1:R
    PZ=ones(3,1);%邻域内各个点的质心数组
    XFC=[];
    XFC=cell2mat(axyzc(i));