一、代码

Python

python">import open3d as o3d
import numpy as npdef mean_filter(point_cloud, k=50):# 构建KDTreepcd_tree = o3d.geometry.KDTreeFlann(point_cloud)# 为每个点搜索k近邻points = np.asarray(point_cloud.points)filtered_points = np.zeros_like(points)for i in range(points.shape[0]):[_, idx, _] = pcd_tree.search_knn_vector_3d(point_cloud.points[i], k + 1)  # k+1，因为包含该点自身knn_points = points[idx, :]  # 获取k近邻点坐标filtered_points[i] = np.mean(knn_points, axis=0)  # 计算均值# 创建新的点云对象filtered_pcd = o3d.geometry.PointCloud()filtered_pcd.points = o3d.utility.Vector3dVector(filtered_points)return filtered_pcddef median_filter(point_cloud, k=20):pcd_tree = o3d.geometry.KDTreeFlann(point_cloud)filtered_points = np.copy(point_cloud.points)for i, point in enumerate(point_cloud.points):[k, idx,