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add save preprocessed normals

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hofee
2024-10-23 00:42:18 -05:00
parent cd56d9ea58
commit e25f7b3334
2 changed files with 11 additions and 4 deletions
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6
utils/pts.py
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@@ -84,14 +84,14 @@ class PtsUtil:
theta = np.arccos(cos_theta) * 180 / np.pi
idx = theta < theta_limit
filtered_sampled_points = points[idx]
filtered_normals = normals[idx]
""" filter with z range """
points_cam = PtsUtil.transform_point_cloud(filtered_sampled_points, np.linalg.inv(cam_pose))
idx = (points_cam[:, 2] > z_range[0]) & (points_cam[:, 2] < z_range[1])
z_filtered_points = filtered_sampled_points[idx]
return z_filtered_points[:, :3]
z_filtered_normals = filtered_normals[idx]
return z_filtered_points[:, :3], z_filtered_normals
@staticmethod
def point_to_hash(point, voxel_size):