python点云拼接代码

点云拼接是一个比较复杂的问题，需要考虑点云的配准、滤波、采样等问题。以下是一个简单的点云拼接代码示例，仅供参考：

import open3d as o3d

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

# 对点云进行下采样
pcd1_down = pcd1.voxel_down_sample(voxel_size=0.05)
pcd2_down = pcd2.voxel_down_sample(voxel_size=0.05)

# 对点云进行配准
trans_init = np.eye(4)
reg_p2p = o3d.registration.registration_icp(
    pcd1_down, pcd2_down, 0.2, trans_init,
    o3d.registration.TransformationEstimationPointToPoint(),
    o3d.registration.ICPConvergenceCriteria(max_iteration=200))
print(reg_p2p.transformation)

# 将两个点云拼接在一起
pcd_combined = pcd2.transform(reg_p2p.transformation)
pcd_combined += pcd1

# 保存拼接后的点云
o3d.io.write_point_cloud("pcd_combined.pcd", pcd_combined)