GICP 配准点云（附python 代码）

 import open3d as o3d
import numpy as np
import copy


def draw_registration_result(src, tar, transformation):
    source_temp = copy.deepcopy(src)  # 由于函数transformand paint_uniform_color会更改点云，
    target_temp = copy.deepcopy(tar)  # 因此调用copy.deepcoy进行复制并保护原始点云。
    source_temp.paint_uniform_color([1, 0, 0])  # 点云着色
    target_temp.paint_uniform_color([0, 1, 0])
    source_temp.transform(transformation)
    o3d.io.write_point_cloud("trans_of_source.pcd", source_temp)  # 保存点云
    o3d.visualization.draw_geometries([source_temp, target_temp],
                                      window_name="GICP配准结果", width=800, height=600)


if __name__ == "__main__":
    # --------------------读取点云数据-------------------
    source = o3d.io.read_point_cloud("data//1.pcd")
    target = o3d.io.read_point_cloud("data//2.pcd")
    # ------------------可视化点云初始位置---------------