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並前往https://colab.research.google.com/github/RussTedrake/manipulation/blob/master/exercises/pose/pose_estimation_icp.ipynb

pose_estimation_icp.ipynb - Colaboratory - Google Colab

Drake has a PointCloud class, and Open3d has its own PointCloud class. ... You may use color data, the background pointcloud, and any outlier detection ...

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