Point cloud data anti-penetration pickup method

The invention relates to the technical field of point cloud data processing, in particular to a point cloud data anti-penetration pickup method, which comprises the following steps: acquiring a query line segment; acquiring an actual space distance of each pixel point in the scene; obtaining a query body according to the query line segment and the actual spatial distance; obtaining candidate point clouds according to the query body; and sorting the candidate point clouds according to distances and angles to obtain pickup point clouds. According to the method, the query body is obtained according to the query line segment and the actual spatial distance, then the candidate point clouds are obtained according to the query body, and then the candidate point clouds are sorted according to the distance and the angle, so that the problem of penetrating pickup is solved, and more accurate pickup point clouds are obtained. 本发明涉及点云数据处理技术领域，具体涉及一种点云数据防穿透拾取方法，包括：获取查询线段；获取场景中各像素点的实际空间距离；根据查询线段和实际空间距离获取查询体；根据查询体获取候选点云；对候选