add inference

2024-09-19 00:14:26 +08:00
parent 9ec3a00fd4
commit 935069d68c
10 changed files with 302 additions and 139 deletions
--- a/utils/pts.py
+++ b/utils/pts.py
@@ -1,5 +1,6 @@
 import numpy as np
 import open3d as o3d
+import torch

 class PtsUtil:

@@ -19,4 +20,9 @@ class PtsUtil:
    @staticmethod
    def random_downsample_point_cloud(point_cloud, num_points):
        idx = np.random.choice(len(point_cloud), num_points, replace=True)
+        return point_cloud[idx]
+    
+    @staticmethod
+    def random_downsample_point_cloud_tensor(point_cloud, num_points):
+        idx = torch.randint(0, len(point_cloud), (num_points,))
        return point_cloud[idx]