update scan_points strategy

2024-10-02 16:24:13 +08:00
parent 551282a0ec
commit c8b8a44252
6 changed files with 120 additions and 50 deletions
--- a/utils/pts.py
+++ b/utils/pts.py
@@ -19,6 +19,8 @@ class PtsUtil:
    
    @staticmethod
    def random_downsample_point_cloud(point_cloud, num_points):
+        if point_cloud.shape[0] == 0:
+            return point_cloud
        idx = np.random.choice(len(point_cloud), num_points, replace=True)
        return point_cloud[idx]