update preprocessor

utils/pts.py

@@ -20,6 +20,8 @@ class PtsUtil:
     @staticmethod
     def random_downsample_point_cloud(point_cloud, num_points, require_idx=False):
         if point_cloud.shape[0] == 0:
+            if require_idx:
+                return point_cloud, np.array([])
             return point_cloud
         idx = np.random.choice(len(point_cloud), num_points, replace=True)
         if require_idx:
@@ -60,7 +62,11 @@ class PtsUtil:
         cos_theta = np.dot(normals_normalized, camera_axis)
         theta_rad = np.deg2rad(theta)
         idx = cos_theta > np.cos(theta_rad)
+        print(cos_theta, theta_rad)
         filtered_points= points[idx]
+        # ------  Debug Start ------
+        import ipdb;ipdb.set_trace()
+        # ------  Debug End ------
         if require_idx:
             return filtered_points, idx
         return filtered_points