open3d 采样办法汇总

Mr.Q

已于 2023-05-17 14:01:35 修改

阅读量570

点赞数

分类专栏： open3d 文章标签： python

于 2023-05-09 11:33:46 首次发布

本文链接：https://blog.csdn.net/jizhidexiaoming/article/details/130576712

版权

open3d 专栏收录该内容

35 篇文章 18 订阅

订阅专栏

该文介绍了使用Open3D库进行点云数据下采样的三种方法：体素下采样，通过设置体素大小减少点云复杂度；均匀下采样，按固定间隔选取点；最远距离采样，选择与已有点最远的点进行采样，以保持点云的覆盖范围。

摘要由CSDN通过智能技术生成

1. 体素下采样

2. 均匀下采样

3. 最远距离采样

pcd.uniform_down_sample(every_k_points=5)
pcd.voxel_down_sample(voxel_size=0.02)
pcd.farthest_point_down_sample(num_samples=2000)

1. 体素下采样

point_cloud_voxel_downsampling.py

import open3d as o3d

if __name__ == "__main__":
    # 1. pcd
    print("Load a ply point cloud, print it, and render it")
    sample_ply_data = o3d.data.PLYPointCloud()
    pcd = o3d.io.read_point_cloud(sample_ply_data.path)
    # Flip it, otherwise the pointcloud will be upside down.
    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    print(pcd)
    o3d.visualization.draw([pcd])

    # 2. voxel_down_sample
    print("Downsample the point cloud with a voxel of 0.05")
    downpcd = pcd.voxel_down_sample(voxel_size=0.05)
    o3d.visualization.draw([downpcd])

2. 均匀下采样

上面的代码更换：

# downpcd = pcd.voxel_down_sample(voxel_size=0.05)
# every_k_points (int): Sample rate, the selected point indices are [0, k, 2k, ...]
downpcd = pcd.uniform_down_sample(every_k_points=15)

3. 最远距离采样

关键代码：

downpcd = pcd.farthest_point_down_sample(num_samples=1000)

Downsamples input pointcloud into output pointcloud with a set of points has farthest distance. The sample is performed by selecting the farthest point from previous selected points iteratively.

即每次选择的采样点都是距离已经采样的点云最远的点。

import open3d as o3d

if __name__ == "__main__":
    # 1. pcd
    print("Load a ply point cloud, print it, and render it")
    sample_ply_data = o3d.data.PLYPointCloud()
    pcd = o3d.io.read_point_cloud(sample_ply_data.path)
    # Flip it, otherwise the pointcloud will be upside down.
    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    print(pcd)
    o3d.visualization.draw([pcd])

    # 2. voxel_down_sample
    print("Downsample the point cloud with a voxel of 0.05")
    downpcd = pcd.farthest_point_down_sample(num_samples=1000)
    # downpcd.paint_uniform_color((1, 0, 0))
    o3d.visualization.draw([downpcd])