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<h1>Source code for Mapping.point_cloud_sampling.point_cloud_sampling</h1><div class="highlight"><pre>
<span></span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd">Point cloud sampling example codes. This code supports</span>
<span class="sd">- Voxel point sampling</span>
<span class="sd">- Farthest point sampling</span>
<span class="sd">- Poisson disk sampling</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">import</span> <span class="nn">numpy.typing</span> <span class="k">as</span> <span class="nn">npt</span>
<span class="kn">from</span> <span class="nn">collections</span> <span class="kn">import</span> <span class="n">defaultdict</span>
<span class="n">do_plot</span> <span class="o">=</span> <span class="kc">True</span>
<div class="viewcode-block" id="voxel_point_sampling"><a class="viewcode-back" href="../../../modules/mapping/point_cloud_sampling/point_cloud_sampling.html#Mapping.point_cloud_sampling.point_cloud_sampling.voxel_point_sampling">[docs]</a><span class="k">def</span> <span class="nf">voxel_point_sampling</span><span class="p">(</span><span class="n">original_points</span><span class="p">:</span> <span class="n">npt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">,</span> <span class="n">voxel_size</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Voxel Point Sampling function.</span>
<span class="sd"> This function sample N-dimensional points with voxel grid.</span>
<span class="sd"> Points in a same voxel grid will be merged by mean operation for sampling.</span>
<span class="sd"> Parameters</span>
<span class="sd"> ----------</span>
<span class="sd"> original_points : (M, N) N-dimensional points for sampling.</span>
<span class="sd"> The number of points is M.</span>
<span class="sd"> voxel_size : voxel grid size</span>
<span class="sd"> Returns</span>
<span class="sd"> -------</span>
<span class="sd"> sampled points (M&#39;, N)</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="n">voxel_dict</span> <span class="o">=</span> <span class="n">defaultdict</span><span class="p">(</span><span class="nb">list</span><span class="p">)</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">original_points</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]):</span>
<span class="n">xyz</span> <span class="o">=</span> <span class="n">original_points</span><span class="p">[</span><span class="n">i</span><span class="p">,</span> <span class="p">:]</span>
<span class="n">xyz_index</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">xyz</span> <span class="o">//</span> <span class="n">voxel_size</span><span class="p">)</span>
<span class="n">voxel_dict</span><span class="p">[</span><span class="n">xyz_index</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">xyz</span><span class="p">)</span>
<span class="n">points</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">vstack</span><span class="p">([</span><span class="n">np</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">v</span><span class="p">,</span> <span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span> <span class="k">for</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">voxel_dict</span><span class="o">.</span><span class="n">values</span><span class="p">()])</span>
<span class="k">return</span> <span class="n">points</span></div>
<div class="viewcode-block" id="farthest_point_sampling"><a class="viewcode-back" href="../../../modules/mapping/point_cloud_sampling/point_cloud_sampling.html#Mapping.point_cloud_sampling.point_cloud_sampling.farthest_point_sampling">[docs]</a><span class="k">def</span> <span class="nf">farthest_point_sampling</span><span class="p">(</span><span class="n">orig_points</span><span class="p">:</span> <span class="n">npt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">,</span>
<span class="n">n_points</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Farthest point sampling function</span>
<span class="sd"> This function sample N-dimensional points with the farthest point policy.</span>
<span class="sd"> Parameters</span>
<span class="sd"> ----------</span>
<span class="sd"> orig_points : (M, N) N-dimensional points for sampling.</span>
<span class="sd"> The number of points is M.</span>
<span class="sd"> n_points : number of points for sampling</span>
<span class="sd"> seed : random seed number</span>
<span class="sd"> Returns</span>
<span class="sd"> -------</span>
<span class="sd"> sampled points (n_points, N)</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="n">rng</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">default_rng</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
<span class="n">n_orig_points</span> <span class="o">=</span> <span class="n">orig_points</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
<span class="n">first_point_id</span> <span class="o">=</span> <span class="n">rng</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="nb">range</span><span class="p">(</span><span class="n">n_orig_points</span><span class="p">))</span>
<span class="n">min_distances</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">ones</span><span class="p">(</span><span class="n">n_orig_points</span><span class="p">)</span> <span class="o">*</span> <span class="nb">float</span><span class="p">(</span><span class="s2">&quot;inf&quot;</span><span class="p">)</span>
<span class="n">selected_ids</span> <span class="o">=</span> <span class="p">[</span><span class="n">first_point_id</span><span class="p">]</span>
<span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">selected_ids</span><span class="p">)</span> <span class="o">&lt;</span> <span class="n">n_points</span><span class="p">:</span>
<span class="n">base_point</span> <span class="o">=</span> <span class="n">orig_points</span><span class="p">[</span><span class="n">selected_ids</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">],</span> <span class="p">:]</span>
<span class="n">distances</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">orig_points</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">newaxis</span><span class="p">,</span> <span class="p">:]</span> <span class="o">-</span> <span class="n">base_point</span><span class="p">,</span>
<span class="n">axis</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
<span class="n">min_distances</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">minimum</span><span class="p">(</span><span class="n">min_distances</span><span class="p">,</span> <span class="n">distances</span><span class="p">)</span>
<span class="n">distances_rank</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">argsort</span><span class="p">(</span><span class="o">-</span><span class="n">min_distances</span><span class="p">)</span> <span class="c1"># Farthest order</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="n">distances_rank</span><span class="p">:</span> <span class="c1"># From the farthest point</span>
<span class="k">if</span> <span class="n">i</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">selected_ids</span><span class="p">:</span> <span class="c1"># if not selected yes, select it</span>
<span class="n">selected_ids</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">i</span><span class="p">)</span>
<span class="k">break</span>
<span class="k">return</span> <span class="n">orig_points</span><span class="p">[</span><span class="n">selected_ids</span><span class="p">,</span> <span class="p">:]</span></div>
<div class="viewcode-block" id="poisson_disk_sampling"><a class="viewcode-back" href="../../../modules/mapping/point_cloud_sampling/point_cloud_sampling.html#Mapping.point_cloud_sampling.point_cloud_sampling.poisson_disk_sampling">[docs]</a><span class="k">def</span> <span class="nf">poisson_disk_sampling</span><span class="p">(</span><span class="n">orig_points</span><span class="p">:</span> <span class="n">npt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">,</span> <span class="n">n_points</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
<span class="n">min_distance</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">MAX_ITER</span><span class="o">=</span><span class="mi">1000</span><span class="p">):</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Poisson disk sampling function</span>
<span class="sd"> This function sample N-dimensional points randomly until the number of</span>
<span class="sd"> points keeping minimum distance between selected points.</span>
<span class="sd"> Parameters</span>
<span class="sd"> ----------</span>
<span class="sd"> orig_points : (M, N) N-dimensional points for sampling.</span>
<span class="sd"> The number of points is M.</span>
<span class="sd"> n_points : number of points for sampling</span>
<span class="sd"> min_distance : minimum distance between selected points.</span>
<span class="sd"> seed : random seed number</span>
<span class="sd"> MAX_ITER : Maximum number of iteration. Default is 1000.</span>
<span class="sd"> Returns</span>
<span class="sd"> -------</span>
<span class="sd"> sampled points (n_points or less, N)</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="n">rng</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">default_rng</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
<span class="n">selected_id</span> <span class="o">=</span> <span class="n">rng</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="nb">range</span><span class="p">(</span><span class="n">orig_points</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]))</span>
<span class="n">selected_ids</span> <span class="o">=</span> <span class="p">[</span><span class="n">selected_id</span><span class="p">]</span>
<span class="n">loop</span> <span class="o">=</span> <span class="mi">0</span>
<span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">selected_ids</span><span class="p">)</span> <span class="o">&lt;</span> <span class="n">n_points</span> <span class="ow">and</span> <span class="n">loop</span> <span class="o">&lt;=</span> <span class="n">MAX_ITER</span><span class="p">:</span>
<span class="n">selected_id</span> <span class="o">=</span> <span class="n">rng</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="nb">range</span><span class="p">(</span><span class="n">orig_points</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]))</span>
<span class="n">base_point</span> <span class="o">=</span> <span class="n">orig_points</span><span class="p">[</span><span class="n">selected_id</span><span class="p">,</span> <span class="p">:]</span>
<span class="n">distances</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span>
<span class="n">orig_points</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">newaxis</span><span class="p">,</span> <span class="n">selected_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">base_point</span><span class="p">,</span>
<span class="n">axis</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
<span class="k">if</span> <span class="nb">min</span><span class="p">(</span><span class="n">distances</span><span class="p">)</span> <span class="o">&gt;=</span> <span class="n">min_distance</span><span class="p">:</span>
<span class="n">selected_ids</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">selected_id</span><span class="p">)</span>
<span class="n">loop</span> <span class="o">+=</span> <span class="mi">1</span>
<span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">selected_ids</span><span class="p">)</span> <span class="o">!=</span> <span class="n">n_points</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Could not find the specified number of points...&quot;</span><span class="p">)</span>
<span class="k">return</span> <span class="n">orig_points</span><span class="p">[</span><span class="n">selected_ids</span><span class="p">,</span> <span class="p">:]</span></div>
<span class="k">def</span> <span class="nf">plot_sampled_points</span><span class="p">(</span><span class="n">original_points</span><span class="p">,</span> <span class="n">sampled_points</span><span class="p">,</span> <span class="n">method_name</span><span class="p">):</span>
<span class="n">fig</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">figure</span><span class="p">()</span>
<span class="n">ax</span> <span class="o">=</span> <span class="n">fig</span><span class="o">.</span><span class="n">add_subplot</span><span class="p">(</span><span class="n">projection</span><span class="o">=</span><span class="s1">&#39;3d&#39;</span><span class="p">)</span>
<span class="n">ax</span><span class="o">.</span><span class="n">scatter</span><span class="p">(</span><span class="n">original_points</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">original_points</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span>
<span class="n">original_points</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">],</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;.&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Original points&quot;</span><span class="p">)</span>
<span class="n">ax</span><span class="o">.</span><span class="n">scatter</span><span class="p">(</span><span class="n">sampled_points</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">sampled_points</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span>
<span class="n">sampled_points</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">],</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;o&quot;</span><span class="p">,</span>
<span class="n">label</span><span class="o">=</span><span class="s2">&quot;Filtered points&quot;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">plt</span><span class="o">.</span><span class="n">title</span><span class="p">(</span><span class="n">method_name</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">axis</span><span class="p">(</span><span class="s2">&quot;equal&quot;</span><span class="p">)</span>
<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
<span class="n">n_points</span> <span class="o">=</span> <span class="mi">1000</span>
<span class="n">seed</span> <span class="o">=</span> <span class="mi">1234</span>
<span class="n">rng</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">default_rng</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
<span class="n">x</span> <span class="o">=</span> <span class="n">rng</span><span class="o">.</span><span class="n">normal</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="n">n_points</span><span class="p">)</span>
<span class="n">y</span> <span class="o">=</span> <span class="n">rng</span><span class="o">.</span><span class="n">normal</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="n">n_points</span><span class="p">)</span>
<span class="n">z</span> <span class="o">=</span> <span class="n">rng</span><span class="o">.</span><span class="n">normal</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="n">n_points</span><span class="p">)</span>
<span class="n">original_points</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">vstack</span><span class="p">((</span><span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">z</span><span class="p">))</span><span class="o">.</span><span class="n">T</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">original_points</span><span class="o">.</span><span class="n">shape</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Voxel point sampling&quot;</span><span class="p">)</span>
<span class="n">voxel_size</span> <span class="o">=</span> <span class="mf">20.0</span>
<span class="n">voxel_sampling_points</span> <span class="o">=</span> <span class="n">voxel_point_sampling</span><span class="p">(</span><span class="n">original_points</span><span class="p">,</span> <span class="n">voxel_size</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">voxel_sampling_points</span><span class="o">.</span><span class="n">shape</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Farthest point sampling&quot;</span><span class="p">)</span>
<span class="n">n_points</span> <span class="o">=</span> <span class="mi">20</span>
<span class="n">farthest_sampling_points</span> <span class="o">=</span> <span class="n">farthest_point_sampling</span><span class="p">(</span><span class="n">original_points</span><span class="p">,</span>
<span class="n">n_points</span><span class="p">,</span> <span class="n">seed</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">farthest_sampling_points</span><span class="o">.</span><span class="n">shape</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Poisson disk sampling&quot;</span><span class="p">)</span>
<span class="n">n_points</span> <span class="o">=</span> <span class="mi">20</span>
<span class="n">min_distance</span> <span class="o">=</span> <span class="mf">10.0</span>
<span class="n">poisson_disk_points</span> <span class="o">=</span> <span class="n">poisson_disk_sampling</span><span class="p">(</span><span class="n">original_points</span><span class="p">,</span> <span class="n">n_points</span><span class="p">,</span>
<span class="n">min_distance</span><span class="p">,</span> <span class="n">seed</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">poisson_disk_points</span><span class="o">.</span><span class="n">shape</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">if</span> <span class="n">do_plot</span><span class="p">:</span>
<span class="n">plot_sampled_points</span><span class="p">(</span><span class="n">original_points</span><span class="p">,</span> <span class="n">voxel_sampling_points</span><span class="p">,</span>
<span class="s2">&quot;Voxel point sampling&quot;</span><span class="p">)</span>
<span class="n">plot_sampled_points</span><span class="p">(</span><span class="n">original_points</span><span class="p">,</span> <span class="n">farthest_sampling_points</span><span class="p">,</span>
<span class="s2">&quot;Farthest point sampling&quot;</span><span class="p">)</span>
<span class="n">plot_sampled_points</span><span class="p">(</span><span class="n">original_points</span><span class="p">,</span> <span class="n">poisson_disk_points</span><span class="p">,</span>
<span class="s2">&quot;poisson disk sampling&quot;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">&#39;__main__&#39;</span><span class="p">:</span>
<span class="n">main</span><span class="p">()</span>
</pre></div>
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