FPFH特征匹配以及ransac粗配准

一、代码

Python

import open3d as o3d
import numpy as np


def extract_points(point_cloud, salient_radius=5, non_max_radius=5, gamma_21=0.95, gamma_32=0.95, min_neighbors=6):
    keypoints = o3d.geometry.keypoint.compute_iss_keypoints(point_cloud,
                                                            salient_radius=salient_radius,
                                                            non_max_radius=non_max_radius,
                                                            gamma_21=gamma_21,
                                                            gamma_32=gamma_32,
                                                            min_neighbors=min_neighbors)
    return keypoints


def view_show(point1, point2):
    # 关键点绿色
    point1.paint_uniform_color([0, 1, 0])
    # 点云红色
    point2.paint_uniform_color([1, 0, 0])
    # 可视化方法1
    # 可视化关键点和原始点云
    # o3d.visualization.draw_geometri