def get_voxel_fun(points_, n):
"""
体素栅格下采样
:param points_: 点云中的点序列
:param n: 体素大小
:return: 降采样之后的点
"""
get_voxel = voxelgrid.VoxelGrid(points_, n_x=n, n_y=n, n_z=n)
get_voxel.compute()
points_voxel_ = get_voxel.voxel_centers[get_voxel.voxel_n]
points_voxel_ = np.unique(points_voxel_, axis=0)
return points_voxel_
def get_voxel_fun(points_, n):
get_voxel = voxelgrid.VoxelGrid(points_, n_x=n, n_y=n, n_z=n)
get_voxel.compute()
points_voxel_ = get_voxel.voxel_centers[get_voxel.voxel_n]
points_voxel_ = np.unique(points_voxel_, axis=0)
return points_voxel_