python加快for循环的速度_提高通过numpy数组循环的速度 - python

在对地面进行分类之后，我尝试分割LiDAR点云。我正在使用numpy创建点云(pc)的“图像”，并遍历numpy数组。我想加快循环速度，或者一起避免循环。我将使用图像分割技术，但是首先我需要运行此代码来创建“图像”，这是需要一段时间的部分。有没有办法提高这个循环的速度或避免这种循环？

import numpy as np

from math import ceil, floor

'''In this case:

pc = point cloud (X,Y,Z values)'''

# point cloud is in the numpy array, pc

minx,maxx,miny,maxy = floor(np.min(pc[:,0]-1)),ceil(np.max(pc[:,0]+1)),floor(np.min(pc[:,1]-1)),ceil(np.max(pc[:,1]+1))# x,y bounding box

# grid x and y direction (resolution: 0.2 meters)

gridx = np.linspace(minx,maxx,int((maxx - minx+0.2)*5),endpoint=True)

gridy = np.linspace(miny,maxy,int((maxy - miny +0.2)*5),endpoint=True)

#shape of the new image with 0.2 meter resolution.

imgx,imgy = int((maxx-minx+0.2)*5),int((maxy - miny +0.2)*5)

# this is what will be created at the end. It will be a binary image.

img = np.zeros((imgx,imgy))

#loop through array to generate image (this is the part that takes a while)

for x,i in enumerate(gridx):

for y,j in enumerate(gridy):

# Test if there any points in this "grid"

input_point = pc[np.where(((pc