voxel grid wellington

voxelgridwellington.py

import laspy as lp
import numpy as np
import open3d as o3d

path = "NZ19_Wellington.las"

#read point cloud data
point_cloud=lp.read(path)

#convert to o3d
pcd = o3d.geometry.PointCloud()
#points
pcd.points = o3d.utility.Vector3dVector(np.vstack((point_cloud.x, point_cloud.y, point_cloud.z)).transpose())
#colors
pcd.colors = o3d.utility.Vector3dVector(np.vstack((point_cloud.red, point_cloud.green, point_cloud.blue)).transpose()/65535)

#voxel grid
v_size=round(max(pcd.get_max_bound()-pcd.get_min_bound())*0.005,4)
voxel_grid=o3d.geometry.VoxelGrid.create_from_point_cloud(pcd,voxel_size=v_size)

o3d.visualization.draw_geometries([voxel_grid])

voxels=voxel_grid.get_voxels()