ICP\FGR\GICP\RANSAC点云配准

一、ICP配准

Python

import open3d as o3d
import numpy as np


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
    vis = o3d.visualization.Visualizer()
    vis.create_window(window_name="ICP", width=1200, height=1200)

    # 设置背景颜色
    vis.get_render_option().background_color = [0, 0, 0]  # 白色背景

    # 添加点云到Visualizer
    vis.add_geometry(point1)
    vis.add_geometry(point2)

    # 运行可视化循环
    vis.run()
    vis.destroy_window()


if __name__ == "__main__":
    # 读取点云
    scene = o3d.io.read_point_cloud("data/cow01.pcd")
    target = o3d.io.read_point_cloud("data/cow02.pcd")

    # 可视化关键点和原点云
    view_show(scene, target)
    trans_init = np.eye(4)
    # 260这是猪的参数
    # reg_p = o3d.pipelines.registration.registration_icp(
    #     keypoints_scene, keyp