PointNethttps://zhuanlan.zhihu.com/p/44809266
对应的论文
https://www.zhuanzhi.ai/document/3f4eb5438799b346b6d25419a7013d7f
https://zhuanlan.zhihu.com/p/59865273
https://cloud.tencent.com/developer/article/1499557