{"id":987268,"date":"2024-12-27T07:52:01","date_gmt":"2024-12-26T23:52:01","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/987268.html"},"modified":"2024-12-27T07:52:04","modified_gmt":"2024-12-26T23:52:04","slug":"python%e5%a6%82%e4%bd%95%e8%af%bb%e5%8f%96pcd%e6%96%87%e4%bb%b6","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/987268.html","title":{"rendered":"python\u5982\u4f55\u8bfb\u53d6pcd\u6587\u4ef6"},"content":{"rendered":"<p style=\"text-align:center;\" ><img decoding=\"async\" src=\"https:\/\/cdn-kb.worktile.com\/kb\/wp-content\/uploads\/2024\/04\/25063448\/6ef12ece-6a41-41e9-a661-6e8bfe6bb716.webp\" alt=\"python\u5982\u4f55\u8bfb\u53d6pcd\u6587\u4ef6\" \/><\/p>\n<p><p> <strong>Python\u8bfb\u53d6PCD\u6587\u4ef6\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u51e0\u79cd\u65b9\u6cd5\uff1a\u4f7f\u7528PCL\u5e93\u3001\u4f7f\u7528Open3D\u5e93\u3001\u4f7f\u7528pypcd\u5e93\u3002<\/strong>\u5728\u8fd9\u4e9b\u65b9\u6cd5\u4e2d\uff0cOpen3D\u5e93\u662f\u4e00\u4e2a\u529f\u80fd\u5f3a\u5927\u76843D\u6570\u636e\u5904\u7406\u5e93\uff0c\u63d0\u4f9b\u4e86\u7b80\u5355\u6613\u7528\u7684\u63a5\u53e3\u3002\u4e0b\u9762\u6211\u4eec\u5c06\u8be6\u7ec6\u4ecb\u7ecd\u5982\u4f55\u4f7f\u7528Open3D\u5e93\u6765\u8bfb\u53d6\u548c\u5904\u7406PCD\u6587\u4ef6\u3002<\/p>\n<\/p>\n<p><p>\u4e00\u3001\u4f7f\u7528OPEN3D\u5e93\u8bfb\u53d6PCD\u6587\u4ef6<\/p>\n<\/p>\n<p><p>Open3D\u662f\u4e00\u4e2a\u5f00\u6e90\u5e93\uff0c\u4e13\u95e8\u7528\u4e8e\u5904\u74063D\u6570\u636e\u3002\u5b83\u4e0d\u4ec5\u652f\u6301PCD\u6587\u4ef6\uff0c\u8fd8\u652f\u6301\u5176\u4ed6\u591a\u79cd\u683c\u5f0f\u76843D\u6587\u4ef6\u3002\u4ee5\u4e0b\u662f\u5982\u4f55\u4f7f\u7528Open3D\u8bfb\u53d6PCD\u6587\u4ef6\u7684\u6b65\u9aa4\uff1a<\/p>\n<\/p>\n<ol>\n<li>\n<p><strong>\u5b89\u88c5Open3D\u5e93<\/strong><\/p>\n<\/p>\n<p><p>\u5728\u4f7f\u7528Open3D\u4e4b\u524d\uff0c\u6211\u4eec\u9700\u8981\u786e\u4fdd\u5b83\u5df2\u7ecf\u5b89\u88c5\u3002\u53ef\u4ee5\u901a\u8fc7pip\u547d\u4ee4\u8fdb\u884c\u5b89\u88c5\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-bash\">pip install open3d<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u60a8\u5c31\u53ef\u4ee5\u5728Python\u811a\u672c\u4e2d\u5bfc\u5165\u5e76\u4f7f\u7528Open3D\u5e93\u3002<\/p>\n<\/p>\n<\/li>\n<li>\n<p><strong>\u8bfb\u53d6PCD\u6587\u4ef6<\/strong><\/p>\n<\/p>\n<p><p>Open3D\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u63a5\u53e3\u6765\u8bfb\u53d6PCD\u6587\u4ef6\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u57fa\u672c\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import open3d as o3d<\/p>\n<h2><strong>\u8bfb\u53d6PCD\u6587\u4ef6<\/strong><\/h2>\n<p>pcd = o3d.io.read_point_cloud(&quot;your_file.pcd&quot;)<\/p>\n<h2><strong>\u6253\u5370\u70b9\u4e91\u4fe1\u606f<\/strong><\/h2>\n<p>print(pcd)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u5728\u8fd9\u4e2a\u4ee3\u7801\u7247\u6bb5\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528<code>o3d.io.read_point_cloud<\/code>\u51fd\u6570\u6765\u8bfb\u53d6PCD\u6587\u4ef6\uff0c\u5e76\u5c06\u5176\u5b58\u50a8\u5728\u53d8\u91cf<code>pcd<\/code>\u4e2d\u3002\u7136\u540e\uff0c\u6211\u4eec\u53ef\u4ee5\u6253\u5370\u70b9\u4e91\u5bf9\u8c61\u7684\u4fe1\u606f\u3002<\/p>\n<\/p>\n<\/li>\n<li>\n<p><strong>\u53ef\u89c6\u5316\u70b9\u4e91\u6570\u636e<\/strong><\/p>\n<\/p>\n<p><p>Open3D\u8fd8\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u53ef\u89c6\u5316\u529f\u80fd\uff0c\u53ef\u4ee5\u65b9\u4fbf\u5730\u67e5\u770b\u70b9\u4e91\u6570\u636e\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import open3d as o3d<\/p>\n<h2><strong>\u8bfb\u53d6PCD\u6587\u4ef6<\/strong><\/h2>\n<p>pcd = o3d.io.read_point_cloud(&quot;your_file.pcd&quot;)<\/p>\n<h2><strong>\u53ef\u89c6\u5316<\/strong><\/h2>\n<p>o3d.visualization.draw_geometries([pcd])<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u8fd9\u6bb5\u4ee3\u7801\u5c06\u663e\u793a\u4e00\u4e2a\u7a97\u53e3\uff0c\u5c55\u793aPCD\u6587\u4ef6\u4e2d\u76843D\u70b9\u4e91\u6570\u636e\u3002<\/p>\n<\/p>\n<\/li>\n<\/ol>\n<p><p>\u4e8c\u3001\u4f7f\u7528PCL\u5e93\u8bfb\u53d6PCD\u6587\u4ef6<\/p>\n<\/p>\n<p><p>\u70b9\u4e91\u5e93\uff08PCL\uff09\u662f\u4e00\u4e2a\u529f\u80fd\u5f3a\u5927\u76843D\u70b9\u4e91\u5904\u7406\u5e93\uff0c\u867d\u7136\u5b83\u4e3b\u8981\u662f\u4e3aC++\u5f00\u53d1\u7684\uff0c\u4f46\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7Python\u7ed1\u5b9a\u6765\u4f7f\u7528\u5b83\u3002<\/p>\n<\/p>\n<ol>\n<li>\n<p><strong>\u5b89\u88c5PCL-PYTHON<\/strong><\/p>\n<\/p>\n<p><p>\u9996\u5148\u9700\u8981\u5b89\u88c5PCL\u7684Python\u7ed1\u5b9a\uff0c\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-bash\">pip install python-pcl<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u8bf7\u6ce8\u610f\uff0c\u5b89\u88c5python-pcl\u53ef\u80fd\u4f1a\u6bd4\u8f83\u590d\u6742\uff0c\u56e0\u4e3a\u5b83\u9700\u8981\u4e00\u4e9b\u5e95\u5c42\u5e93\u7684\u652f\u6301\u3002<\/p>\n<\/p>\n<\/li>\n<li>\n<p><strong>\u4f7f\u7528PCL\u8bfb\u53d6PCD\u6587\u4ef6<\/strong><\/p>\n<\/p>\n<p><p>\u4ee5\u4e0b\u662f\u4e00\u4e2a\u4f7f\u7528PCL\u5e93\u8bfb\u53d6PCD\u6587\u4ef6\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import pcl<\/p>\n<h2><strong>\u8bfb\u53d6PCD\u6587\u4ef6<\/strong><\/h2>\n<p>p = pcl.load(&quot;your_file.pcd&quot;)<\/p>\n<h2><strong>\u6253\u5370\u70b9\u4e91\u4fe1\u606f<\/strong><\/h2>\n<p>print(p)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u8fd9\u6bb5\u4ee3\u7801\u4f7f\u7528<code>pcl.load<\/code>\u51fd\u6570\u6765\u8bfb\u53d6PCD\u6587\u4ef6\uff0c\u5e76\u5c06\u5176\u5b58\u50a8\u5728\u53d8\u91cf<code>p<\/code>\u4e2d\u3002<\/p>\n<\/p>\n<\/li>\n<\/ol>\n<p><p>\u4e09\u3001\u4f7f\u7528PYPCD\u5e93\u8bfb\u53d6PCD\u6587\u4ef6<\/p>\n<\/p>\n<p><p>pypcd\u662f\u4e00\u4e2a\u4e13\u95e8\u7528\u4e8e\u8bfb\u53d6\u548c\u5199\u5165PCD\u6587\u4ef6\u7684\u8f7b\u91cf\u7ea7\u5e93\uff0c\u9002\u5408\u5904\u7406\u7b80\u5355\u7684PCD\u6587\u4ef6\u64cd\u4f5c\u3002<\/p>\n<\/p>\n<ol>\n<li>\n<p><strong>\u5b89\u88c5PYPCD<\/strong><\/p>\n<\/p>\n<p><p>\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5pypcd\u5e93\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-bash\">pip install pypcd<\/p>\n<p><\/code><\/pre>\n<\/p>\n<\/li>\n<li>\n<p><strong>\u8bfb\u53d6PCD\u6587\u4ef6<\/strong><\/p>\n<\/p>\n<p><p>\u4ee5\u4e0b\u662f\u4f7f\u7528pypcd\u5e93\u8bfb\u53d6PCD\u6587\u4ef6\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">from pypcd import pypcd<\/p>\n<h2><strong>\u8bfb\u53d6PCD\u6587\u4ef6<\/strong><\/h2>\n<p>pc = pypcd.PointCloud.from_path(&#39;your_file.pcd&#39;)<\/p>\n<h2><strong>\u6253\u5370\u70b9\u4e91\u4fe1\u606f<\/strong><\/h2>\n<p>print(pc.pc_data)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u5728\u8fd9\u4e2a\u4ee3\u7801\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528<code>pypcd.PointCloud.from_path<\/code>\u51fd\u6570\u8bfb\u53d6PCD\u6587\u4ef6\uff0c\u5e76\u53ef\u4ee5\u8bbf\u95ee\u70b9\u4e91\u6570\u636e\u3002<\/p>\n<\/p>\n<\/li>\n<\/ol>\n<p><p>\u56db\u3001\u70b9\u4e91\u6570\u636e\u7684\u540e\u7eed\u5904\u7406<\/p>\n<\/p>\n<p><p>\u8bfb\u53d6PCD\u6587\u4ef6\u540e\uff0c\u901a\u5e38\u9700\u8981\u5bf9\u70b9\u4e91\u6570\u636e\u8fdb\u884c\u8fdb\u4e00\u6b65\u5904\u7406\uff0c\u4f8b\u5982\u6ee4\u6ce2\u3001\u7279\u5f81\u63d0\u53d6\u3001\u914d\u51c6\u7b49\u3002\u4e0b\u9762\u7b80\u5355\u4ecb\u7ecd\u4e00\u4e9b\u5e38\u7528\u7684\u70b9\u4e91\u5904\u7406\u64cd\u4f5c\u3002<\/p>\n<\/p>\n<ol>\n<li>\n<p><strong>\u4e0b\u91c7\u6837<\/strong><\/p>\n<\/p>\n<p><p>\u4e0b\u91c7\u6837\u53ef\u4ee5\u51cf\u5c11\u70b9\u4e91\u6570\u636e\u7684\u5bc6\u5ea6\uff0c\u4ece\u800c\u52a0\u5feb\u5904\u7406\u901f\u5ea6\u3002Open3D\u63d0\u4f9b\u4e86<code>voxel_down_sample<\/code>\u51fd\u6570\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">down_pcd = pcd.voxel_down_sample(voxel_size=0.05)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u8fd9\u6bb5\u4ee3\u7801\u5c06\u70b9\u4e91\u6570\u636e\u8fdb\u884c\u4f53\u7d20\u4e0b\u91c7\u6837\uff0c\u4f53\u7d20\u5927\u5c0f\u4e3a0.05\u3002<\/p>\n<\/p>\n<\/li>\n<li>\n<p><strong>\u53bb\u566a<\/strong><\/p>\n<\/p>\n<p><p>\u53bb\u566a\u53ef\u4ee5\u53bb\u9664\u70b9\u4e91\u4e2d\u7684\u5b64\u7acb\u566a\u58f0\u70b9\u3002Open3D\u63d0\u4f9b\u4e86<code>remove_statistical_outlier<\/code>\u51fd\u6570\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">cl, ind = down_pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=2.0)<\/p>\n<p>inlier_cloud = down_pcd.select_by_index(ind)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u8fd9\u6bb5\u4ee3\u7801\u901a\u8fc7\u7edf\u8ba1\u6ee4\u6ce2\u53bb\u9664\u566a\u58f0\u70b9\u3002<\/p>\n<\/p>\n<\/li>\n<li>\n<p><strong>\u8868\u9762\u91cd\u5efa<\/strong><\/p>\n<\/p>\n<p><p>\u8868\u9762\u91cd\u5efa\u53ef\u4ee5\u4ece\u70b9\u4e91\u6570\u636e\u751f\u62103D\u6a21\u578b\u3002Open3D\u63d0\u4f9b\u4e86\u591a\u79cd\u91cd\u5efa\u7b97\u6cd5\uff0c\u5982Poisson\u91cd\u5efa\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd, depth=9)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u8fd9\u6bb5\u4ee3\u7801\u4f7f\u7528\u6cca\u677e\u91cd\u5efa\u7b97\u6cd5\u751f\u6210\u4e09\u89d2\u7f51\u683c\u3002<\/p>\n<\/p>\n<\/li>\n<li>\n<p><strong>\u7279\u5f81\u63d0\u53d6<\/strong><\/p>\n<\/p>\n<p><p>\u7279\u5f81\u63d0\u53d6\u7528\u4e8e\u63d0\u53d6\u70b9\u4e91\u4e2d\u7684\u7279\u5f81\u70b9\u548c\u63cf\u8ff0\u5b50\u3002Open3D\u63d0\u4f9b\u4e86<code>compute_fpfh_feature<\/code>\u51fd\u6570\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">radius_normal = 0.1<\/p>\n<p>radius_feature = 0.2<\/p>\n<p>pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=radius_normal, max_nn=30))<\/p>\n<p>fpfh = o3d.pipelines.registration.compute_fpfh_feature(pcd, o3d.geometry.KDTreeSearchParamHybrid(radius=radius_feature, max_nn=100))<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><p>\u8fd9\u6bb5\u4ee3\u7801\u8ba1\u7b97FPFH\u7279\u5f81\u3002<\/p>\n<\/p>\n<\/li>\n<\/ol>\n<p><p>\u4e94\u3001\u603b\u7ed3<\/p>\n<\/p>\n<p><p>\u5728Python\u4e2d\u8bfb\u53d6PCD\u6587\u4ef6\u6709\u591a\u79cd\u65b9\u6cd5\uff0cOpen3D\u662f\u5176\u4e2d\u6700\u4e3a\u63a8\u8350\u7684\uff0c\u56e0\u4e3a\u5b83\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u70b9\u4e91\u5904\u7406\u529f\u80fd\u548c\u6613\u7528\u7684\u63a5\u53e3\u3002\u6b64\u5916\uff0cPCL\u548cpypcd\u5e93\u4e5f\u662f\u6709\u6548\u7684\u9009\u62e9\uff0c\u5177\u4f53\u9009\u62e9\u53d6\u51b3\u4e8e\u60a8\u7684\u9700\u6c42\u548c\u9879\u76ee\u7684\u590d\u6742\u6027\u3002\u5728\u5b8c\u6210PCD\u6587\u4ef6\u8bfb\u53d6\u540e\uff0c\u60a8\u53ef\u4ee5\u5229\u7528\u5404\u79cd\u70b9\u4e91\u5904\u7406\u5de5\u5177\u6765\u8fdb\u4e00\u6b65\u5206\u6790\u548c\u5904\u7406\u6570\u636e\uff0c\u4ee5\u5b9e\u73b0\u66f4\u590d\u6742\u76843D\u6570\u636e\u5e94\u7528\u3002\u65e0\u8bba\u4f7f\u7528\u54ea\u79cd\u65b9\u6cd5\uff0c\u7406\u89e3\u70b9\u4e91\u6570\u636e\u7684\u7ed3\u6784\u548c\u5904\u7406\u6d41\u7a0b\u90fd\u662f\u81f3\u5173\u91cd\u8981\u7684\uff0c\u8fd9\u5c06\u6709\u52a9\u4e8e\u60a8\u66f4\u597d\u5730\u8fdb\u884c3D\u6570\u636e\u7684\u5206\u6790\u548c\u5e94\u7528\u3002<\/p>\n<\/p>\n<h2><strong>\u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n<p> <strong>\u5982\u4f55\u4f7f\u7528Python\u8bfb\u53d6PCD\u6587\u4ef6\uff1f<\/strong><br \/>\u8981\u8bfb\u53d6PCD\uff08\u70b9\u4e91\u6570\u636e\uff09\u6587\u4ef6\uff0c\u60a8\u53ef\u4ee5\u4f7f\u7528<code>open3d<\/code>\u6216<code>pcl<\/code>\u7b49\u5e93\u3002<code>open3d<\/code>\u5e93\u63d0\u4f9b\u4e86\u7b80\u5355\u7684\u63a5\u53e3\u6765\u52a0\u8f7d\u548c\u5904\u7406\u70b9\u4e91\u6570\u636e\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u57fa\u672c\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<pre><code class=\"language-python\">import open3d as o3d\n\n# \u8bfb\u53d6PCD\u6587\u4ef6\npcd = o3d.io.read_point_cloud(&quot;your_file.pcd&quot;)\n# \u53ef\u89c6\u5316\u70b9\u4e91\no3d.visualization.draw_geometries([pcd])\n<\/code><\/pre>\n<p>\u786e\u4fdd\u60a8\u5df2\u5b89\u88c5<code>open3d<\/code>\u5e93\uff0c\u53ef\u4ee5\u901a\u8fc7<code>pip install open3d<\/code>\u8fdb\u884c\u5b89\u88c5\u3002<\/p>\n<p><strong>\u8bfb\u53d6PCD\u6587\u4ef6\u65f6\u5e38\u89c1\u7684\u9519\u8bef\u6709\u54ea\u4e9b\uff1f<\/strong><br \/>\u5728\u8bfb\u53d6PCD\u6587\u4ef6\u65f6\uff0c\u53ef\u80fd\u4f1a\u9047\u5230\u4e00\u4e9b\u5e38\u89c1\u7684\u9519\u8bef\uff0c\u4f8b\u5982\u6587\u4ef6\u8def\u5f84\u9519\u8bef\u3001\u6587\u4ef6\u683c\u5f0f\u4e0d\u6b63\u786e\u6216\u7f3a\u5c11\u5fc5\u8981\u7684\u5e93\u3002\u786e\u4fdd\u6587\u4ef6\u8def\u5f84\u6b63\u786e\u4e14\u6587\u4ef6\u683c\u5f0f\u7b26\u5408PCD\u89c4\u8303\u3002\u5982\u679c\u9047\u5230\u5e93\u76f8\u5173\u7684\u95ee\u9898\uff0c\u8bf7\u68c0\u67e5\u662f\u5426\u5df2\u5b89\u88c5\u6240\u9700\u7684\u5e93\uff0c\u5e76\u786e\u4fdd\u5176\u7248\u672c\u517c\u5bb9\u3002<\/p>\n<p><strong>\u5982\u4f55\u5904\u7406\u8bfb\u53d6\u5230\u7684\u70b9\u4e91\u6570\u636e\uff1f<\/strong><br \/>\u8bfb\u53d6\u5230\u7684\u70b9\u4e91\u6570\u636e\u53ef\u4ee5\u8fdb\u884c\u591a\u79cd\u5904\u7406\uff0c\u5982\u6ee4\u6ce2\u3001\u4e0b\u91c7\u6837\u3001\u6cd5\u7ebf\u4f30\u8ba1\u7b49\u3002\u4f7f\u7528<code>open3d<\/code>\u5e93\uff0c\u53ef\u4ee5\u8f7b\u677e\u5b9e\u73b0\u8fd9\u4e9b\u64cd\u4f5c\u3002\u4f8b\u5982\uff0c\u60a8\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u4ee3\u7801\u5bf9\u70b9\u4e91\u8fdb\u884c\u4e0b\u91c7\u6837\uff1a<\/p>\n<pre><code class=\"language-python\">downsampled_pcd = pcd.voxel_down_sample(voxel_size=0.05)\n<\/code><\/pre>\n<p>\u6b64\u5916\uff0c\u53ef\u4ee5\u5bf9\u70b9\u4e91\u8fdb\u884c\u53ef\u89c6\u5316\u3001\u6cd5\u7ebf\u4f30\u8ba1\u6216\u5176\u4ed6\u51e0\u4f55\u5904\u7406\uff0c\u4ee5\u4fbf\u66f4\u597d\u5730\u5206\u6790\u548c\u5229\u7528\u6570\u636e\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"Python\u8bfb\u53d6PCD\u6587\u4ef6\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u51e0\u79cd\u65b9\u6cd5\uff1a\u4f7f\u7528PCL\u5e93\u3001\u4f7f\u7528Open3D\u5e93\u3001\u4f7f\u7528pypcd\u5e93\u3002\u5728\u8fd9\u4e9b\u65b9\u6cd5 [&hellip;]","protected":false},"author":3,"featured_media":987272,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[37],"tags":[],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/987268"}],"collection":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/comments?post=987268"}],"version-history":[{"count":"1","href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/987268\/revisions"}],"predecessor-version":[{"id":987274,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/987268\/revisions\/987274"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media\/987272"}],"wp:attachment":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media?parent=987268"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/categories?post=987268"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/tags?post=987268"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}