Function create_octree

plib/utils.py:230–263

Store the xys points into an octree. Args: points: (*, 3) max_depth: max depth of the octree. As the tree depth increases, internal (and eventually leaf) nodes represents a smaller partition of 3D space. Returns: an o3d octre

(
        points: T.Union[torch.Tensor, np.ndarray, o3d.geometry.PointCloud],
        max_depth: int = 5,
        remove_nan_inf: bool = True,
)

def create_octree(
        points: T.Union[torch.Tensor, np.ndarray, o3d.geometry.PointCloud],
        max_depth: int = 5,
        remove_nan_inf: bool = True,
) -> o3d.geometry.Octree:
    """
    Store the xys points into an octree.

    Args:
        points:
            (*, 3)
        max_depth:
            max depth of the octree. As the tree depth increases,
            internal (and eventually leaf) nodes represents a smaller partition of 3D space.

    Returns:
        an o3d octree
    """
    if isinstance(points, o3d.geometry.PointCloud):
        pcd = points
    elif isinstance(points, (torch.Tensor, np.ndarray)):
        pcd = create_pcd(
            points=points,
            colors=None,
            remove_nan_inf=remove_nan_inf,
        )
    else:
        raise NotImplementedError

    octree = o3d.geometry.Octree(max_depth=max_depth)
    octree.convert_from_point_cloud(
        point_cloud=pcd,
    )
    return octree


def ray_aabb_intersection(