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upd infernce

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hofee
2024-11-04 17:17:54 +08:00
parent 04d3a359e1
commit 2b7243d1be
6 changed files with 191 additions and 42 deletions
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8
utils/reconstruction.py
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@@ -32,13 +32,15 @@ class ReconstructionUtil:
@staticmethod
def check_overlap(new_point_cloud, combined_point_cloud, overlap_area_threshold=25, voxel_size=0.01):
def check_overlap(new_point_cloud, combined_point_cloud, overlap_area_threshold=25, voxel_size=0.01, require_new_added_pts_num=False):
kdtree = cKDTree(combined_point_cloud)
distances, _ = kdtree.query(new_point_cloud)
overlapping_points = np.sum(distances < voxel_size*2)
overlapping_points_num = np.sum(distances < voxel_size*2)
cm = 0.01
voxel_size_cm = voxel_size / cm
overlap_area = overlapping_points * voxel_size_cm * voxel_size_cm
overlap_area = overlapping_points_num * voxel_size_cm * voxel_size_cm
if require_new_added_pts_num:
return overlap_area > overlap_area_threshold, len(new_point_cloud)-np.sum(distances < voxel_size*1.2)
return overlap_area > overlap_area_threshold