inference

This commit is contained in:
2024-11-03 02:18:59 +08:00
parent 7b28cf9e91
commit 7cd8bfebd3
4 changed files with 314 additions and 123 deletions

View File

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