获取点云二维边缘点（附open3d python代码）

把三维的点投影到二维图像，找图像边缘，然后反向映射，找到对应的边缘点

# coding:utf-8
import open3d as o3d
import numpy as np
import cv2

def img_edge(point_cloud_np):
    # 把三维的点投影到二维图像，找图像边缘，然后反向映射，找到对应的边缘点

    vol_bnds = np.zeros((3, 2))

    vol_bnds[:, 0] = np.minimum(vol_bnds[:, 0], np.amin(point_cloud_np, axis=0))
    vol_bnds[:, 1] = np.maximum(vol_bnds[:, 1], np.amax(point_cloud_np, axis=0))

    print(vol_bnds)
    # leafsize = 0.1
    leafsize = 0.2
    vol_dim = np.ceil((vol_bnds[:, 1] - vol_bnds[:, 0]) / leafsize).copy(order='C').astype(int)
    print(vol_dim)
    # tsdf_vol_cpu = np.ones(vol_dim).astype(np.float32)

    shift = 100
    bev_map = np.zeros((vol_dim[1]+shift, vol_dim[0]+shift))

    for p in point_cloud_np:

        cx = np.floor((p[0] - vol_bnds[0, 0]) / leafsize)
        cy = np.floor((p[1] - vol_bnds[1, 0]) / leafsize)