Function create_pcd

plib/utils.py:190–227

Create o3d point cloud from points Args: points: (*, 3) colors: (*, 3) optional remove_nan_inf: Returns: an o3d point cloud

(
        points: T.Union[torch.Tensor, np.ndarray],
        colors: T.Union[torch.Tensor, np.ndarray] = None,
        remove_nan_inf: bool = True,
)

def create_pcd(
        points: T.Union[torch.Tensor, np.ndarray],
        colors: T.Union[torch.Tensor, np.ndarray] = None,
        remove_nan_inf: bool = True,
) -> o3d.geometry.PointCloud:
    """
    Create o3d point cloud from points
    Args:
        points:
            (*, 3)
        colors:
            (*, 3) optional
        remove_nan_inf:

    Returns:
        an o3d point cloud
    """

    if isinstance(points, torch.Tensor):
        points = points.detach().cpu().numpy()

    points = points.reshape(-1, 3)  # (n, 3)
    if colors is not None:
        colors = colors.reshape(-1, 3)  # (n, 3)

    # remove any inf or nan points
    if remove_nan_inf:
        idxs = np.all(np.isfinite(points), axis=-1)  # (n,)
        points = points[idxs]
        if colors is not None:
            colors = colors[idxs]

    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(points)
    if colors is not None:
        pcd.colors = o3d.utility.Vector3dVector(colors)

    return pcd


def create_octree(