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67 lines
1.9 KiB
Python
67 lines
1.9 KiB
Python
import numpy as np
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import config as con
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def clip_and_rotate_point_cloud(points, config):
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"""
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对点云先旋转，再裁剪
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:param points: list of [x, y, z], 原始点云数据
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:param config: dict, 包含 min_pt, max_pt, rotation 的配置
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:return: list of [x, y, z], 旋转并裁剪后的点云
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"""
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# 提取配置参数
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min_pt = np.array(config.get("min_pt", [-np.inf] * 3))
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max_pt = np.array(config.get("max_pt", [np.inf] * 3))
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rotation = np.array(config.get("rotation", [1, 0, 0, 0, 1, 0, 0, 0, 1])).reshape(3, 3)
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# 转换为 NumPy 数组
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points = np.array(points, dtype=np.float64)
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# 1. 先旋转：应用旋转矩阵
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rotated_points = (rotation @ points.T).T
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# 2. 再裁剪：保留落在 min_pt ~ max_pt 范围内的点
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mask = np.all((rotated_points >= min_pt) & (rotated_points <= max_pt), axis=1)
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clipped_points = rotated_points[mask]
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return clipped_points.tolist()
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def merge_point_clouds(clouds, config,sn):
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"""
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将多个点云沿 x 轴依次拼接在一起
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:param clouds: list of (list of [x, y, z]), 多个点云
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:return: list of [x, y, z], 合并后的点云
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"""
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min_pt = config.get("min_pt", [0, 0, 0])
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max_pt = config.get("max_pt", [0, 0, 0])
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# 返回 x 方向的区域宽度
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merged = []
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current_x_offset = 0
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reverse_order = con.CAMERA_CONFIG_MAP[sn].get("reverse_order", False)
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for cloud in reversed(clouds) if reverse_order else clouds:
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if not cloud:
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continue
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# 添加偏移后写入结果
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offset_cloud = [[p[0] + current_x_offset, p[1], p[2]] for p in cloud]
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merged.extend(offset_cloud)
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# 获取当前相机采集区域的 x 宽度
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x_width = float(max_pt[0] - min_pt[0])
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# 更新下一个点云的偏移量（当前偏移 + 当前区域宽度）
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# 在下一次删除
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current_x_offset += x_width
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return merged,current_x_offset+min_pt[0]
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