点云的相交求异[Open3D-Python]

import open3d as o3d
import numpy as np

# 点云的相交、求异

pc1 = o3d.io.read_point_cloud("1.ply", remove_nan_points=True, remove_infinite_points=True)  # 原始点云
pc2 = o3d.io.read_point_cloud("2.ply", remove_nan_points=True, remove_infinite_points=True)  # 求异点云

# 建立原始点云数据的kd-tree
kd_tree = o3d.geometry.KDTreeFlann(pc1)
# pts_idx两片点云中相同部分的索引
pts_idx = []
# k:k-nn的搜索参数，搜索另外一片点云中距离它的最近点
k = 1
# 距离阈值设为0.1
dist_max = 0.1
# 得到的点个数
points = np.array(pc2.points)
pointNum = points.shape[0]

# 遍历点云
for i in range(0, pointNum):
    # k:返回点个数
    # idx:返回点索引
    # dist:返回点距离
    [k, idx, dist] = kd_tree.search_knn_vector_3d(knn=k, query=pc2[i])
    if dist[0] < dist_max:  # 距离小于阈值，则认为是相同部分的点云
        pts_idx.append(i)

same_part = pc2.select_by_index(pts_idx)
diff_part = pc2.select_by_index(pts_idx, invert=True)

same_part.paint_uniform_color([1, 0, 0])
diff_part.paint_uniform_color([0, 0, 1])

o3d.visualization.draw_geometries([same_part, diff_part], mesh_show_back_face=False)