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