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update fps algo and fps mask

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hofee
2024-10-06 13:48:54 +08:00
parent 276f45dcc3
commit fa69f9f879
3 changed files with 115 additions and 84 deletions
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7
utils/pts.py
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@@ -24,13 +24,12 @@ class PtsUtil:
return point_cloud[idx]
@staticmethod
def fps_downsample_point_cloud(point_cloud, num_points, require_mask=False):
def fps_downsample_point_cloud(point_cloud, num_points, require_idx=False):
N = point_cloud.shape[0]
mask = np.zeros(N, dtype=bool)
sampled_indices = np.zeros(num_points, dtype=int)
sampled_indices[0] = np.random.randint(0, N)
mask[sampled_indices[0]] = True
distances = np.linalg.norm(point_cloud - point_cloud[sampled_indices[0]], axis=1)
for i in range(1, num_points):
farthest_index = np.argmax(distances)
@@ -41,8 +40,8 @@ class PtsUtil:
distances = np.minimum(distances, new_distances)
sampled_points = point_cloud[sampled_indices]
if require_mask:
return sampled_points, mask
if require_idx:
return sampled_points, sampled_indices
return sampled_points
@staticmethod