| from __future__ import annotations |
| import functools |
| import numpy as np |
| import open3d as o3d |
|
|
|
|
| def make_pcd( |
| xyz: np.ndarray, |
| rgb: np.ndarray, |
| ) -> o3d.geometry.PointCloud: |
| points = o3d.utility.Vector3dVector(xyz.reshape(-1, 3)) |
| colors = o3d.utility.Vector3dVector(rgb.reshape(-1, 3).astype(np.float64) / 255) |
| pcd = o3d.geometry.PointCloud(points) |
| pcd.colors = colors |
| return pcd |
|
|
|
|
| def merge_pcds( |
| voxel_size: float, |
| n_points: int, |
| pcds: list[o3d.geometry.PointCloud], |
| ws_aabb: o3d.geometry.AxisAlignedBoundingBox, |
| ) -> o3d.geometry.PointCloud: |
| merged_pcd = functools.reduce(lambda a, b: a + b, pcds, o3d.geometry.PointCloud()) |
| merged_pcd = merged_pcd.crop(ws_aabb) |
| downsampled_pcd = merged_pcd.voxel_down_sample(voxel_size=voxel_size) |
| if len(downsampled_pcd.points) > n_points: |
| ratio = n_points / len(downsampled_pcd.points) |
| downsampled_pcd = downsampled_pcd.random_down_sample(ratio) |
| if len(downsampled_pcd.points) < n_points: |
| |
| num_missing_points = n_points - len(downsampled_pcd.points) |
| zeros = np.zeros((num_missing_points, 3)) |
| zeros_pcd = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(zeros)) |
| zeros_pcd.colors = o3d.utility.Vector3dVector(zeros) |
| downsampled_pcd += zeros_pcd |
| return downsampled_pcd |
|
|
