feat: initial commit - massive-cloud point cloud processing system

alg/point_porj/archive/relative_code/FPFH.py

@@ -0,0 +1,16 @@
+import open3d as o3d
+import numpy as np
+
+pcd = o3d.io.read_point_cloud("pointcloud.pcd")
+
+# 1. 计算法线
+pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamKNN(k=30))
+
+# 2. 提取FPFH特征
+fpfh = o3d.pipelines.registration.compute_fpfh_feature(
+    pcd,
+    o3d.geometry.KDTreeSearchParamKNN(k=50)
+)
+
+# fpfh.data 是 (33, N) 的矩阵，每列是一个点的33维FPFH描述子
+print(fpfh.data.shape)  # (33, N)