Matlab calculates the average density of point clouds

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1. Algorithm principle

  Different sampling devices and different distances from the device to the scene will cause differences in point cloud density. The existing methods for estimating point cloud density include distance-based methods and block-based methods. The average distance density representation based on distance is to estimate the density of point cloud distribution by calculating the average distance of each point cloud. The distance between points is generally pp at a certain point in the point cloud $p$ and the distance point in the point cloud