open3d 点到点云之间的距离

关键代码：

dists = pcd.compute_point_cloud_distance(target=chair)  # pcd, chair: PointCloud. 

import open3d as o3d
import numpy as np

if __name__ == "__main__":
    # 1. read pcd
    sample_ply_data = o3d.data.DemoCropPointCloud()
    pcd = o3d.io.read_point_cloud(sample_ply_data.point_cloud_path)

    # 2. crop_point_cloud
    vol = o3d.visualization.read_selection_polygon_volume(
        sample_ply_data.cropped_json_path)
    chair = vol.crop_point_cloud(pcd)

    # 3. view
    chair.paint_uniform_color([0, 0, 1])
    pcd.paint_uniform_color([1, 0, 0])
    print("Displaying the two point clouds used for calculating distance ...")
    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    chair.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    o3d.visualization.draw([pcd, chair])

    # 4. For each point in the source point cloud, compute the distance to the target point cloud.
    dists = pcd.compute_point_cloud_distance(target=chair)
    dists = np.asarray(dists)
    print("Printing average distance between the two point clouds ...")
    print(dists)

pcd中的所有点，到char点云之间的距离 

Printing average distance between the two point clouds ...
[1.82659798 1.83171046 1.817216   ... 0.27083108 0.27181889 0.27301031]