1. pcread: 输入文件名，返回pointCloud类（用于存储点云）。eg: pcloud = pcread(“filename.ply”) 

2. pcshow: 输入pointCloud类，展示该点云图。eg: pcshow(pcloud) 

3. pcshowpair: 输入两个pointCloud类，一起展示两个点云图。eg: pcshowpair(pcloud1,pcloud2)。 

4. pcregrigid: ICP算法求取两个点云图之间的转移矩阵，输入两个点云图，返回一个转移矩阵。eg: trans = pcregrigid(moving_pcloud, fixed_pcloud)。 

 = pcregrigid(,) returns a rigid transformation that registers a moving point cloud to a fixed point cloud.

[,] = pcregrigid(,) additionally returns the transformed point cloud that aligns with the fixed point cloud.

5. pctransform: 旋转一个点云图，输入一个需要旋转的点云图，以及旋转矩阵，返回旋转之后的点云图。eg: tranformed_cloud=pctransform(pcloud,trans)。 

6. findNearestNeighbors: 在给定点云图中寻找指定点的k个最近邻，返回在点云图中的索引值以及距离。eg: [indice, dist] = findNearestNeighbors(pcloud, pointCloud.Location, k) 

https://blog.csdn.net/yep3666/article/details/83149384