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global_and_partial_global: all

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hofee
2024-10-30 11:49:45 +00:00
parent 2487039445
commit b82b92eebb
4 changed files with 108 additions and 40 deletions
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30
utils/pts.py
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@@ -14,16 +14,38 @@ class PtsUtil:
downsampled_points = point_cloud[idx_unique]
return downsampled_points, idx_unique
else:
unique_voxels = np.unique(voxel_indices, axis=0, return_inverse=True)
return unique_voxels[0]*voxel_size
import ipdb; ipdb.set_trace()
unique_voxels = np.unique(voxel_indices, axis=0, return_inverse=False)
return unique_voxels*voxel_size
@staticmethod
def voxel_downsample_point_cloud_o3d(point_cloud, voxel_size=0.005):
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(point_cloud)
pcd = pcd.voxel_down_sample(voxel_size)
return np.asarray(pcd.points)
@staticmethod
def random_downsample_point_cloud(point_cloud, num_points, require_idx=False):
def voxel_downsample_point_cloud_and_trace_o3d(point_cloud, voxel_size=0.005):
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(point_cloud)
max_bound = pcd.get_max_bound()
min_bound = pcd.get_min_bound()
pcd = pcd.voxel_down_sample_and_trace(voxel_size, max_bound, min_bound, True)
return np.asarray(pcd.points)
@staticmethod
def random_downsample_point_cloud(point_cloud, num_points, require_idx=False, replace=True):
if point_cloud.shape[0] == 0:
if require_idx:
return point_cloud, np.array([])
return point_cloud
idx = np.random.choice(len(point_cloud), num_points, replace=True)
if not replace and num_points > len(point_cloud):
if require_idx:
return point_cloud, np.arange(len(point_cloud))
return point_cloud
idx = np.random.choice(len(point_cloud), num_points, replace=replace)
if require_idx:
return point_cloud[idx], idx
return point_cloud[idx]