remove fps

core/nbv_dataset.py

@@ -114,6 +114,10 @@ class NBVReconstructionDataset(BaseDataset):
         except Exception as e:
             Log.error(f"Save cache failed: {e}")
 
+    def voxel_downsample_with_mask(self, pts, voxel_size):
+        pass
+
+
     def __getitem__(self, index):
         data_item_info = self.datalist[index]
         scanned_views = data_item_info["scanned_views"]
@@ -162,9 +166,8 @@ class NBVReconstructionDataset(BaseDataset):
         )
 
         combined_scanned_views_pts = np.concatenate(scanned_views_pts, axis=0)
-        fps_downsampled_combined_scanned_pts, fps_idx = PtsUtil.fps_downsample_point_cloud(
-            combined_scanned_views_pts, self.pts_num, require_idx=True
-        )
+        voxel_downsampled_combined_scanned_pts_np = PtsUtil.voxel_downsample_point_cloud(combined_scanned_views_pts, 0.002)
+        random_downsampled_combined_scanned_pts_np = PtsUtil.random_downsample_point_cloud(voxel_downsampled_combined_scanned_pts_np, self.pts_num)
         
         combined_scanned_views_pts_mask = np.zeros(len(combined_scanned_views_pts), dtype=np.uint8)