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並前往http://www.open3d.org/docs/0.12.0/tutorial/reconstruction_system/refine_registration.html

Refine registration — Open3D 0.12.0 documentation

... else: # loop closure case pose_graph.edges.append( o3d.pipelines.registration. ... PoseGraph() odometry = np.identity(4) pose_graph_new.nodes.append( ...

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