upd

utils/pts.py

@@ -16,6 +16,17 @@ class PtsUtil:
         else:
             unique_voxels = np.unique(voxel_indices, axis=0, return_inverse=True)
             return unique_voxels[0]*voxel_size
+        
+    @staticmethod
+    def voxel_downsample_point_cloud_random(point_cloud, voxel_size=0.005, require_idx=False):
+        voxel_indices = np.floor(point_cloud / voxel_size).astype(np.int32)
+        unique_voxels, inverse, counts = np.unique(voxel_indices, axis=0, return_inverse=True, return_counts=True)
+        idx_sort = np.argsort(inverse)
+        idx_unique = idx_sort[np.cumsum(counts)-counts]
+        downsampled_points = point_cloud[idx_unique]
+        if require_idx:
+            return downsampled_points, inverse
+        return downsampled_points
     
     @staticmethod
     def random_downsample_point_cloud(point_cloud, num_points, require_idx=False):

utils/render.py

@@ -1,6 +1,7 @@
 
 import os
 import json
+import time
 import subprocess
 import tempfile
 import shutil
@@ -68,9 +69,13 @@ class RenderUtil:
             params_data_path = os.path.join(temp_dir, "params.json")
             with open(params_data_path, 'w') as f:
                 json.dump(params, f)
+            start_time = time.time()
             result = subprocess.run([
                 'blender', '-b', '-P', script_path, '--', temp_dir
             ], capture_output=True, text=True)
+            end_time = time.time()
+            print(result)
+            print(f"-- Time taken for blender: {end_time - start_time} seconds")
             if result.returncode != 0:
                 print("Blender script failed:")
                 print(result.stderr)
@@ -82,6 +87,7 @@ class RenderUtil:
                     cam_info["far_plane"], 
                     binocular=True
                 )
+            start_time = time.time()
             mask_L, mask_R = DataLoadUtil.load_seg(path, binocular=True)
             normal_L = DataLoadUtil.load_normal(path, binocular=True, left_only=True)
             ''' target points '''
@@ -114,6 +120,7 @@ class RenderUtil:
             if not has_points:
                 target_points = np.zeros((0, 3))
                 target_normals = np.zeros((0, 3))
-
+            end_time = time.time()
+            print(f"-- Time taken for processing: {end_time - start_time} seconds")
             #import ipdb; ipdb.set_trace()
             return target_points, target_normals