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我从英特尔实感深度摄像头获得点云。而我想去掉距离较远的加分点，如何在代码中加入条件？

获取点云的代码：

import numpy as np
from open3d import *


def main():
    cloud = read_point_cloud("1.ply") # Read the point cloud
    draw_geometries([cloud]) # Visualize the point cloud


if __name__ == "__main__":
    main()

查看点云的代码：

import pyrealsense2 as rs


pipe = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth)
pipe.start(config)
colorizer = rs.colorizer()

try:

    frames = pipe.wait_for_frames()
    colorized = colorizer.process(frames)

    ply = rs.save_to_ply("1.ply")
    ply.set_option(rs.save_to_ply.option_ply_binary, False)
    ply.set_option(rs.save_to_ply.option_ply_normals, True)
    ply.process(colorized)

    print("Done")

finally:
    pipe.stop()

我要删除的内容： 在此处输入图像描述

4

1 回答 1

4

这个问题并没有说明要删除哪些点。假设您可以提供一个已知半径和中心位置的球体，以下代码将删除该球体之外的所有点：

import numpy as np
import open3d

# Read point cloud from PLY
pcd1 = open3d.io.read_point_cloud("1.ply")
points = np.asarray(pcd1.points)

# Sphere center and radius
center = np.array([1.586, -8.436, -0.242])
radius = 0.5

# Calculate distances to center, set new points
distances = np.linalg.norm(points - center, axis=1)
pcd1.points = open3d.utility.Vector3dVector(points[distances <= radius])

# Write point cloud out
open3d.io.write_point_cloud("out.ply", pcd1)
于 2021-01-16T06:05:43.927 回答