写出用open3d滤除两个pcd点云文件中相同点云的代码

以下是使用open3d滤除两个pcd点云文件中相同点云的代码：

import open3d as o3d

# 读取两个点云文件
pcd1 = o3d.io.read_point_cloud("pcd1.pcd")
pcd2 = o3d.io.read_point_cloud("pcd2.pcd")

# 将点云文件转换为numpy数组
points1 = pcd1.points
points2 = pcd2.points

# 将numpy数组转换为open3d点云格式
pcd1 = o3d.geometry.PointCloud()
pcd1.points = o3d.utility.Vector3dVector(points1)
pcd2 = o3d.geometry.PointCloud()
pcd2.points = o3d.utility.Vector3dVector(points2)

# 使用open3d的voxel_down_sample方法对点云进行降采样
voxel_size = 0.05
pcd1_down = pcd1.voxel_down_sample(voxel_size=voxel_size)
pcd2_down = pcd2.voxel_down_sample(voxel_size=voxel_size)

# 使用open3d的estimate_normals方法对点云进行法线估计
pcd1_down.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
pcd2_down.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))

# 使用open3d的compute_fpfh_feature方法计算点云的FPFH特征
radius_normal = voxel_size * 2
pcd1_fpfh = o3d.pipelines.registration.compute_fpfh_feature(pcd1_down, o3d.geometry.KDTreeSearchParamHybrid(radius=radius_normal, max_nn=30))
pcd2_fpfh = o3d.pipelines.registration.compute_fpfh_feature(pcd2_down, o3d.geometry.KDTreeSearchParamHybrid(radius=radius_normal, max_nn=30))

# 使用open3d的registration_ransac_based_on_feature_matching方法进行点云配准
distance_threshold = voxel_size * 1.5
result = o3d.pipelines.registration.registration_ransac_based_on_feature_matching(
    pcd1_down, pcd2_down, pcd1_fpfh, pcd2_fpfh, distance_threshold,
    o3d.pipelines.registration.TransformationEstimationPointToPoint(False), 4, [
        o3d.pipelines.registration.CorrespondenceCheckerBasedOnEdgeLength(0.9),
        o3d.pipelines.registration.CorrespondenceCheckerBasedOnDistance(distance_threshold)
    ], o3d.pipelines.registration.RANSACConvergenceCriteria(4000000, 500))

# 使用open3d的apply_4x4_transformation方法将配准后的点云转换为numpy数组
pcd2_transformed = pcd2.transform(result.transformation)
points2_transformed = np.asarray(pcd2_transformed.points)

# 使用numpy的setdiff1d方法计算两个点云的差集
points_diff = np.setdiff1d(points2, points2_transformed, assume_unique=True, axis=0)

# 将差集转换为open3d点云格式并保存为pcd文件
pcd_diff = o3d.geometry.PointCloud()
pcd_diff.points = o3d.utility.Vector3dVector(points_diff)
o3d.io.write_point_cloud("pcd_diff.pcd", pcd_diff)

希望能对你有所帮助！