激光雷达点云的裁剪 python open3d实现

雨点打透心脏的1/2处 2022-10-14 10:50 472阅读 1赞

描述：在三维点云空间中，我们需要裁剪掉不关注的区域

使用open3d库

原始点云输入为：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3lleWFuZzkxMQ_size_16_color_FFFFFF_t_70][] 原始点云

import os
    import numpy as np
    import open3d as o3d
    
    
    
    #load pcd file
    pcd_file = '1.pcd'
    pcd = o3d.io.read_point_cloud(pcd_file)
    
    print(pcd)
    
    #The region we wanted using x-axis and y-axis
    #Like a bird's eye view
    bounding_ploy = np.array([
                              [1.3, 6.1, 0],
                              [0.864, -6.518, 0],
                              [15, -41, 0],
                              [42.774, -41.181, 0],
                              [62.1, -33.3, 0],
                              [77.8, -8.2, 0],
                              [23.8, 32.2, 0],
                              [8, 25, 0]
                             ], dtype = np.float32).reshape([-1, 3]).astype("float64")
    
    print(bounding_ploy)
    
    bounding_polygon = np.array(bounding_ploy, dtype = np.float64)
    
    vol = o3d.visualization.SelectionPolygonVolume()
    
    #The Z-axis is used to define the height of the selected region
    vol.orthogonal_axis = "Z"
    vol.axis_max = 8
    vol.axis_min =-16
    
    
    vol.bounding_polygon = o3d.utility.Vector3dVector(bounding_polygon)
    comp = vol.crop_point_cloud(pcd)
    print(comp)
    xyz_load = np.asarray(comp.points)
    
    #save the cropped region
    np.savetxt( '1_' + '.txt', xyz_load)

裁剪后的点云：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3lleWFuZzkxMQ_size_16_color_FFFFFF_t_70 1][] 裁剪后的点云

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3lleWFuZzkxMQ_size_16_color_FFFFFF_t_70]: /images/20221014/98dc1cf9357a438ca44f4ffdc9f66101.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3lleWFuZzkxMQ_size_16_color_FFFFFF_t_70 1]: /images/20221014/3326d25b20004f04abb146251d161bc9.png