inference
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@@ -18,6 +18,7 @@ class ReconstructionUtil:
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@staticmethod
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def filter_points(points, points_normals, cam_pose, voxel_size=0.005, theta=45):
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sampled_points = PtsUtil.voxel_downsample_point_cloud(points, voxel_size)
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#sampled_points = points
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kdtree = cKDTree(points_normals[:,:3])
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_, indices = kdtree.query(sampled_points)
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nearest_points = points_normals[indices]
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