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debug strategy_generator

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hofee
2024-09-10 20:12:46 +08:00
parent 38f7f8df18
commit fd96b97d7b
6 changed files with 82 additions and 38 deletions
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3
utils/pts.py
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@@ -5,6 +5,7 @@ class PtsUtil:
@staticmethod
def voxel_downsample_point_cloud(point_cloud, voxel_size=0.005):
print("voxel_size: ", voxel_size)
o3d_pc = o3d.geometry.PointCloud()
o3d_pc.points = o3d.utility.Vector3dVector(point_cloud)
downsampled_pc = o3d_pc.voxel_down_sample(voxel_size)
@@ -18,5 +19,5 @@ class PtsUtil:
@staticmethod
def random_downsample_point_cloud(point_cloud, num_points):
idx = np.random.choice(len(point_cloud), num_points, replace=False)
idx = np.random.choice(len(point_cloud), num_points, replace=True)
return point_cloud[idx]