点云自动ICP配准（附open3d python代码）

把现有的ICP配准算法集中封装了一下，
并且集成了配准之前和之后常用的操作，
适配了 numpy 数组。

只需要用 open3d 读取两帧点云数据后，用这样的方式调用函数即可， icp2l_v2([pcd1, pcd2])

import open3d as o3d
import numpy as np
import copy

# we: 394467238

def draw_registration_result(source, target, transformation, use_np=False):
    if use_np:
        source_temp = o3d.geometry.PointCloud()
        target_temp = o3d.geometry.PointCloud()
        source_temp.points = o3d.utility.Vector3dVector(source)
        target_temp.points = o3d.utility.Vector3dVector(target)
    else:
        source_temp = copy.deepcopy(source)
        target_temp = copy.deepcopy(target)

    source_temp.paint_uniform_color([1, 0.706, 0])
    target_temp.paint_uniform_color([0, 0.651, 0.929])
    source_temp.transform(transformation)
    o3d.visualization.draw_geometries([source_temp, target_temp],
                                      zoom=0.44