add new_added_pts compute

reconstruction.py

@@ -31,6 +31,18 @@ class ReconstructionUtil:
         
         return filtered_sampled_points[:, :3]
     
+    @staticmethod
+    def get_new_added_points(old_combined_pts, new_pts, threshold=0.005):
+        if old_combined_pts.size == 0:
+            return new_pts
+        if new_pts.size == 0:
+            return np.array([])
+
+        tree = cKDTree(old_combined_pts)
+        distances, _ = tree.query(new_pts, k=1)
+        new_added_points = new_pts[distances > threshold]
+        return new_added_points
+    
 if __name__ == "__main__":
     import os
     root = "/media/hofee/data/project/python/nbv_reconstruction/nbv_rec_visualize/data/sample/"