【点云学习】Python实现点云体素下采样（Voxel Filter）

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 &#