pointclouds.py 文件源码

def get_xyz_points(cloud_array, remove_nans=True):
    '''
    Pulls out x, y, and z columns from the cloud recordarray, and returns a 3xN matrix.
    '''
    # remove crap points
    if remove_nans:
        mask = np.isfinite(cloud_array['x']) & np.isfinite(cloud_array['y']) & np.isfinite(cloud_array['z'])
        cloud_array = cloud_array[mask]

    # pull out x, y, and z values
    points = np.zeros(list(cloud_array.shape) + [3], dtype=np.float)
    points[...,0] = cloud_array['x']
    points[...,1] = cloud_array['y']
    points[...,2] = cloud_array['z']

    return points