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update normal in computing strategy

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hofee
2024-10-23 11:13:18 -05:00
parent 9d0119549e
commit a1226eb294
5 changed files with 38 additions and 12 deletions
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11
utils/pts.py
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@@ -7,8 +7,15 @@ class PtsUtil:
@staticmethod
def voxel_downsample_point_cloud(point_cloud, voxel_size=0.005, require_idx=False):
voxel_indices = np.floor(point_cloud / voxel_size).astype(np.int32)
unique_voxels = np.unique(voxel_indices, axis=0, return_inverse=True)
return unique_voxels[0]*voxel_size
if require_idx:
_, inverse, counts = np.unique(voxel_indices, axis=0, return_inverse=True, return_counts=True)
idx_sort = np.argsort(inverse)
idx_unique = idx_sort[np.cumsum(counts)-counts]
downsampled_points = point_cloud[idx_unique]
return downsampled_points, idx_unique
else:
unique_voxels = np.unique(voxel_indices, axis=0, return_inverse=True)
return unique_voxels[0]*voxel_size
@staticmethod
def random_downsample_point_cloud(point_cloud, num_points, require_idx=False):