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hofee
2024-11-02 21:54:46 +00:00
parent 287983277a
commit 04d3a359e1
6 changed files with 120 additions and 16 deletions
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11
utils/pts.py
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@@ -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):