点云按块裁剪

在处理工作时遇到需要将大幅点云分块处理的情况，记录处理过程代码：

import numpy as np
import open3d
import pandas as pd
import glob,os
from os.path import join, exists, dirname, abspath,basename
from math import *
import sys

BASE_DIR = dirname(abspath(__file__))
ROOT_DIR = dirname(BASE_DIR)
sys.path.append(BASE_DIR)
sys.path.append(ROOT_DIR)

for sel_path in glob.glob(join("result","*.txt")):
    print(sel_path)
    filename=basename(sel_path)[:-4]
    np_data=pd.read_csv(sel_path,delim_whitespace=True)
    data_file=np_data.values
    jilu=np.zeros(data_file.shape[0])
    maxx=max(data_file[:,0])
    minx=min(data_file[:,0])
    chax=(maxx-minx)/4
    maxy=max(data_file[:, 1])
    miny=min(data_file[:, 1])
    chay = (maxy-miny)/4
    for kk in range(data_file.shape[0]):
        xx=((data_file[kk,0]-minx)//chax)
        yy = ((data_file[kk, 1] - miny) // chay)
        jilu[kk]=xx*4+yy
    for i in range(16):
        jj=data_file[jilu==i]
        if np.sum(jj[:,6])<1000:
            continue
        filename_16=filename+"_{:.2f}.txt".format(i)
        outpath=join("out_16",filename_16)
        np.savetxt(outpath,jj)
        print(outpath)