This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| import neuralnet_pytorch as nnt | |
| import torch as T | |
| from torch_scatter import scatter_add | |
| def pointcloud2voxel_fast(pc: T.Tensor, voxel_size: int, grid_size=1., filter_outlier=True): | |
| b, n, _ = pc.shape | |
| half_size = grid_size / 2. | |
| valid = (pc >= -half_size) & (pc <= half_size) | |
| valid = T.all(valid, 2) |