用下列的代码即可
import open3d as o3d
import os
import numpy as np
from pyntcloud import PyntCloud
from pandas import DataFrame
# 功能:对点云进行voxel滤波
# 输入:
# point_cloud:输入点云
# leaf_size: voxel尺寸
def voxel_filter(point_cloud, leaf_size, random=False):
filtered_points = []
# 计算边界点
x_min, y_min, z_min = np.amin(point_cloud, axis=0) #计算x y z 三个维度的最值
x_max, y_max, z_max = np.amax(point_cloud, axis=0)
# 计算 voxel grid维度
Dx = (x_max - x_min)//leaf_size + 1
Dy = (y_max - y_min)//leaf_size + 1
Dz = (z_max - z_min)//leaf_size + 1
print("Dx x Dy x Dz is {} x {} x {}".format(Dx, Dy, Dz))
# 计算每个点的voxel索引
h = list() #h 为保存索引的列表
for i in range(len(point_cloud)):
hx = (point_cloud[i][0] - x_min)//leaf_size
hy = (point_cloud[i][1] - y_min)//leaf_size
hz = (point_cloud[i][2] - z_min)//leaf_size
h.append(hx + hy*Dx + hz*Dx*Dy)
h = np.array(h)
# 筛选点
h_indice = np.argsort(h) # 返回h里面的元素按从小到大排序的索引
h_sorted = h[h_indice]
begin = 0
for i in range(len(h_sorted)-1): # 0~9999
if h_sorted[i] == h_sorted[i + 1]:
continue
else:
point_idx = h_indice[begin: i + 1]
filtered_points.append(np.mean(point_cloud[point_idx], axis=0))
begin = i
# 把点云格式改成array,并对外返回
filtered_points = np.array(filtered_points, dtype=np.float64)
return filtered_points
def main():
# 加载自己的点云文件
point_cloud_array = np.genfromtxt("D:/Desktop/深蓝学院/airplane_0006.txt", delimiter=",")
point_cloud_array = DataFrame(point_cloud_array[:, 0:3]) # 选取每一列 的 第0个元素到第二个元素 [0,3) 选取每一行
point_cloud_array.columns = ['x', 'y', 'z'] # 给选取到的数据 附上标题
point_cloud_pynt = PyntCloud(point_cloud_array) # 将points的数据 存到结构体中
point_cloud_o3d = point_cloud_pynt.to_instance("open3d", mesh=False) # to_instance实例化
# o3d.visualization.draw_geometries([point_cloud_o3d]) # 显示原始点云
# 调用voxel滤波函数,实现滤波
points = np.asarray(point_cloud_o3d.points)
filtered_cloud = voxel_filter(points, 0.05, random=True)
point_cloud_o3d.points = o3d.utility.Vector3dVector(filtered_cloud)
# 显示滤波后的点云
o3d.visualization.draw_geometries([point_cloud_o3d])
if __name__ == '__main__':
main()