ppf算法的demo代码

PPF算法是一种模式匹配算法，常用于点云数据的匹配。以下是PPF算法的Python示例代码：

import numpy as np

def compute_ppf(p1, n1, p2, n2):
    d = p2 - p1                         
    d /= np.linalg.norm(d)              
    normal_distance = np.dot(n1, n2)    
    rotation_angle = np.arccos(normal_distance)
    rotation_axis = np.cross(n1, n2)    
    rotation_axis /= np.linalg.norm(rotation_axis)
    ppf = np.concatenate([d, rotation_angle * rotation_axis])
    return ppf

def ppf_matching(scene_points, model_points, scene_normals, model_normals, ppf_thresh=0.05):
    model_size = len(model_points)
    scene_size = len(scene_points)
    model_ppfs = []
    for i in range(model_size):
        for j in range(i + 1, model_size):
            model_ppfs.append(compute_ppf(model_points[i],model_normals[i],model_points[j],model_normals[j]))
    scene_ppfs = []
    for i in range(scene_size):
        for j in range(i + 1, scene_size):
            scene_ppfs.append(compute_ppf(scene_points[i],scene_normals[i],scene_points[j],scene_normals[j]))
    matches = []
    for i, model_ppf in enumerate(model_ppfs):
        distances = [np.linalg.norm(model_ppf - scene_ppf) for scene_ppf in scene_ppfs]
        min_distance_idx = np.argmin(distances)
        if distances[min_distance_idx] < ppf_thresh:
            matches.append((i, min_distance_idx))
    return matches