一、代码

Python

import cv2
import open3d as o3d
import matplotlib.pyplot as plt
import numpy as npdef thPlaneSeg(pointcloud):pcd_np = np.asarray(pointcloud.points)# 设置深度阈值 (假设Z轴是深度轴)depth_threshold = 0.196  # 1.0米# 应用深度阈值，移除远于阈值的点pcd_np_filtered = pcd_np[pcd_np[:, 2] < depth_threshold]# 创建一个新的点云pcd_filtered = o3d.geometry.PointCloud()pcd_filtered.points = o3d.utility.Vector3dVector(pcd_np_filtered)# 如果点云有颜色，则也要相应地过滤颜色if pointcloud.colors:pcd_colors_np = np.asarray(pointcloud.colors)pcd_filtered.colors = o3d.utility.Vector3dVector(pcd_colors_np[pcd_np[:, 2] < depth_threshold])# 如果点云有法线，则也要相应地过滤法线if pointcloud.normals:pcd_normals_np = np.asarray(pointcloud.normals)pcd_filtered.normals = o3d.utility.Vector3dVector(pcd_normals_np[pcd_np[:, 2] < depth_threshold])return