三维点云：对原始点云数据进行体素化

一、原始点云

🍉原始点云为.pts文件，内容为x, y, z的坐标

原始点云展示

二、对原始点云进行体素化

使用open3d库实现，如果没有需要在命令行执行pip install open3d

import open3d as o3d
import numpy as np

# 读取.pts文件
def read_pts_file(filename):
    with open(filename, 'r') as f:
        lines = f.readlines()
    pts = []
    for line in lines:
        data = line.strip().split()
        pts.append([float(data[0]), float(data[1]), float(data[2])])
    return np.array(pts)

# 加载.pts文件
pts_filename = "E:\Airplane.pts"  # 替换为.pts文件路径
pts = read_pts_file(pts_filename)

# 创建open3d格式的点云对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pts)

# 进行体素化
voxel_size = 0.03  # 设置体素大小
downpcd = pcd.voxel_down_sample(voxel_size)

# 可视化原始点云
o3d.visualization.draw_geometries([pcd], window_name="原始点云")

# 可视化体素化后的点云
o3d.visualization.draw_geometries([downpcd], window_name="体素化后的点云")

三、结果展示

原始点云展示

体素化后的点云展示