(pts, fps_pts_num)
| 1888 | |
| 1889 | |
| 1890 | def FPS(pts, fps_pts_num): |
| 1891 | # input: (b, 3, n) |
| 1892 | |
| 1893 | # (b, n, 3) |
| 1894 | pts_trans = rearrange(pts, 'b c n -> b n c').contiguous() |
| 1895 | # (b, fps_pts_num) |
| 1896 | sample_idx = pointops.furthestsampling(pts_trans, fps_pts_num).long() |
| 1897 | # (b, 3, fps_pts_num) |
| 1898 | sample_pts = index_points(pts, sample_idx) |
| 1899 | |
| 1900 | return sample_pts |
| 1901 | |
| 1902 | |
| 1903 | def get_knn_pts(k, pts, center_pts, return_idx=False): |
no test coverage detected