Point cloud data processing method and device, equipment and medium

The invention discloses a point cloud data processing method and device, equipment and a medium, and the method comprises the following steps: obtaining a target image, and obtaining source point cloud data according to the structural features of the target image; preprocessing the source point cloud data; projecting a normal vector of each point cloud in the source point cloud data to a preset Gaussian ball, and obtaining a normal vector weight according to distribution conditions of normal vectors in different directions; constructing an initial corresponding relation between the source point cloud data and the target point cloud data to obtain an initial transformation matrix; obtaining an optimal transformation matrix according to the normal vector weight and the initial transformation matrix; the optimal transformation matrix acts on the source point cloud data for iteration, so that the source point cloud data are transformed into new point cloud data, and the point cloud registration method and device