(file_name, voxel_size)
| 47 | |
| 48 | |
| 49 | def load_file(file_name, voxel_size): |
| 50 | pcd = o3d.io.read_point_cloud(file_name) |
| 51 | coords = np.array(pcd.points) |
| 52 | feats = np.array(pcd.colors) |
| 53 | |
| 54 | quantized_coords = np.floor(coords / voxel_size) |
| 55 | unique_coords, unique_feats = ME.utils.sparse_quantize(quantized_coords, feats) |
| 56 | return unique_coords, unique_feats, pcd |
| 57 | |
| 58 | |
| 59 | def generate_input_sparse_tensor(file_name, voxel_size=0.05, batch_size=1): |
no outgoing calls
no test coverage detected