python解决CSF布料模拟滤波的批处理问题（解决获取多个点云数据las数据）

解决问题&＃xff1a;
1、批量读取点云las数据
2、点云数据读与写出
3、csf滤波分类
参考&＃xff1a;https://github.com/suyunzzz/CSF
论文题目&＃xff1a;An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation&＃xff08;Wuming Zhang&＃xff0c;2016&＃xff09;


import laspy
import CSF
import numpy as np
import os
import pandas as pd
path &＃61;"D://***//python测试//"
path2 &＃61; os.listdir(path)for f in path2:inFile &＃61; laspy.file.File(os.path.join(path, f))#inFile &＃61; laspy.file.File(r"D:\***\python测试\9.las", mode&＃61;&＃39;r&＃39;) # read a las filepoints &＃61; inFile.pointsxyz &＃61; np.vstack((inFile.x, inFile.y, inFile.z)).transpose() # extract x, y, z and put into a listcsf &＃61; CSF.CSF()# prameter settingscsf.params.bSloopSmooth &＃61; True ##滤波后处理&＃xff08;针对陡坡&＃xff09;csf.params.cloth_resolution &＃61; 0.5 ##格网大小csf.params.rigidness &＃61; 1 # 布料硬度csf.params.time_step &＃61; 0.65 # 时间步长DTcsf.params.class_threshold &＃61; 0.5 # 分类阈值csf.params.interations &＃61; 500 # 迭代次数# more details about parameter: http://ramm.bnu.edu.cn/projects/CSF/download/csf.setPointCloud(xyz)ground &＃61; CSF.VecInt() # a list to indicate the index of ground points after calculationnon_ground &＃61; CSF.VecInt() # a list to indicate the index of non-ground points after calculationcsf.do_filtering(ground, non_ground) # do actual filtering.file_name &＃61; os.path.basename(f)file_name2 &＃61; file_name.split(&＃39;.&＃39;)[0]outFile &＃61; laspy.file.File(r"%s_ground.las"% file_name2, mode&＃61;&＃39;w&＃39;, header&＃61;inFile.header) ##地面点outFile.points &＃61; points[ground] # extract ground points, and save it to a las file.outFile.close()outFile2 &＃61; laspy.file.File(r"%s_non_ground.las"% file_name2, mode&＃61;&＃39;w&＃39;, header&＃61;inFile.header) ###非地面点outFile2.points &＃61; points[non_ground] # extract non_ground points, and save it to a las file.outFile2.close() # do not forget this