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remove o3d voxel_downsample

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hofee
2024-10-17 14:28:19 +00:00
parent 5dae3c53db
commit d0fbb0f198
3 changed files with 22 additions and 21 deletions
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15
utils/pts.py
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@@ -1,16 +1,14 @@
import numpy as np
import open3d as o3d
import torch
from scipy.spatial import cKDTree
class PtsUtil:
@staticmethod
def voxel_downsample_point_cloud(point_cloud, voxel_size=0.005):
o3d_pc = o3d.geometry.PointCloud()
o3d_pc.points = o3d.utility.Vector3dVector(point_cloud)
downsampled_pc = o3d_pc.voxel_down_sample(voxel_size)
return np.asarray(downsampled_pc.points)
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
@staticmethod
def random_downsample_point_cloud(point_cloud, num_points, require_idx=False):
@@ -94,5 +92,8 @@ class PtsUtil:
z_filtered_points = filtered_sampled_points[idx]
return z_filtered_points[:, :3]
@staticmethod
def point_to_hash(point, voxel_size):
return tuple(np.floor(point / voxel_size).astype(int))