法向量三种估计方式(K近邻估计,半径近邻估计,混合搜索估计) 差别只在于搜索近邻点的方法略微有差异,实际上差别不大; 实际影响更大的是参数的设定是否合理
# coding:utf-8
import numpy as np
import open3d as o3d
path = "gongjian1.pcd"
normalPath = path.replace(".pcd", "_normal.pcd")
print(path)
print(normalPath)
print("Load a pcd point cloud, print it, and render it")
pcd = o3d.io.read_point_cloud(path)
pcd.paint_uniform_color([0.5, 0.5, 0.5]) # 把所有点渲染为灰色
print(pcd) # 输出点云点的个数
print("Downsample the point cloud with a voxel ")
downpcd = pcd.voxel_down_sample(voxel_size=5) # 下采样滤波
print(downpcd)
print("Recompute the normal of the downsampled point cloud")
# 混合搜索 KNN搜索 半径搜索
# downpcd.estimate_normals(
# search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=100.01, max_nn=20)) # 计算法线,搜索半径1cm,只考虑邻域内的20个点
downpcd.estimate_normals(
sea