做网站怎么去进行链接,天津市最新消息今天,植物设计网站推荐,如何修改一个网站的后台登陆系统转自本人博客#xff1a;点云下采样有损压缩 点云下采样是通过一定规则对原点云数据进行再采样#xff0c;减少点云个数#xff0c;降低点云稀疏程度#xff0c;减小点云数据大小。
1. 体素下采样#xff08;Voxel Down Sample#xff09;
std::shared_ptrPointClo… 转自本人博客点云下采样有损压缩 点云下采样是通过一定规则对原点云数据进行再采样减少点云个数降低点云稀疏程度减小点云数据大小。
1. 体素下采样Voxel Down Sample
std::shared_ptrPointCloud VoxelDownSample (double voxel_size) const;voxel_size为体素体积元素的尺寸大小体素的尺寸越大下采样的倍数越大点云也就越稀疏。
相当于每隔一定的距离采集一个点。
示例
std::shared_ptropen3d::geometry::PointCloud pcd nullptr;
open3d::io::ReadPointCloud(rabbit.pcd, *pcd);
double voxelSize 0.05;
pcd pcd-VoxelDownSample(voxelSize);2. 均匀下采样Uniform Down Sample
std::shared_ptrPointCloud UniformDownSample (size_t every_k_points) const;every_k_points为隔着的点数目每隔every_k_points个点保留一个点。
示例
std::shared_ptropen3d::geometry::PointCloud pcd nullptr;
open3d::io::ReadPointCloud(rabbit.pcd, *pcd);
size_t everyKPoints 10;
pcd pcd-UniformDownSample(everyKPoints);3. 随机下采样Random Down Sample
std::shared_ptrPointCloud RandomDownSample (double sampling_ratio) const;sampling_ratio为采样的比率随机保留点直至达成指定比率。
示例
std::shared_ptropen3d::geometry::PointCloud pcd nullptr;
open3d::io::ReadPointCloud(rabbit.pcd, *pcd);
double samplingRatio 0.2;
pcd pcd-RandomDownSample(samplingRatio);4. 最远点下采样FarthestPoint Down Sample
std::shared_ptrPointCloud FarthestPointDownSample (size_t num_samples) const;num_samples为采样的点数。
首先随机选择一个点其次在剩下点中寻找最远的点再去再剩下点中找到同时离这两个点最远的点……以此类推直到满足采样点个数。
示例
std::shared_ptropen3d::geometry::PointCloud pcd nullptr;
open3d::io::ReadPointCloud(rabbit.pcd, *pcd);
size_t numSamples 1000;
pcd pcd-FarthestPointDownSample(numSamples);
