Tag: voxel

PCl point cloud filtering (1) straight-through filtering, voxel filtering, uniform sampling, statistical filtering

A visual function void viewPort2(pcl::PointCloud<pcl::PointXYZ>::Ptr inputCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered) {<!– –> pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer(“Comparison before and after filtering”)); /*—–Viewport 1—–*/ int v1(0); viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1); //Set the minimum and maximum values of the first viewport on the X-axis and Y-axis, with values between 0-1 viewer->setBackgroundColor(0, 0, 0, v1); //Set the background color, 0-1, default […]

3D model (.obj) voxelization matlab implementation

Voxelized obj three-dimensional model based on computational geometry: Principle: Function read_obj2: I can find a lot of them online. Resetting to zero after reading will bring convenience to subsequent calculations (probably, this is what I think) Function voxelization: mainly calculates the intersection of the triangle surface and the voxel, and determines which position of the […]

Voxelization of 3D CAD models

Have you searched how to convert a Cad model to a python ready numpy array but didn’t get any clear answer? Me too. After long research and trying a lot of software and python libraries, I was finally able to convert a 3D STEP file into a 3D numpy array. If you want to do […]

Point cloud voxelization in OpenPcdet – VFE implementation

1. Voxel grid generation This process calls the implementation in the spconv library, the main process is points_to_voxel from spconv import spconv_utils from spconv.spconv_utils import (non_max_suppression_cpu, points_to_voxel_3d_np, points_to_voxel_3d_np_mean, points_to_voxel_3d_with_filtering, rbbox_intersection, rbbox_iou, rotate_non_max_suppression_cpu) try: from spconv.spconv_utils import non_max_suppression except ImportError: pass def points_to_voxel(points, voxel_size, coors_range, coor_to_voxelidx, max_points=35, max_voxels=20000, full_mean=False, block_filtering=True, block_factor=1, block_size=8, height_threshold=0.2, height_high_threshold=3.0, pad_output=False): “””convert […]

Install voxelnext environment to run kitti

Graphics card A100 Install cuda11.3.1 wget https://developer.download.nvidia.com/compute/cuda/11.3.1/local_installers/cuda_11.3.1_465.19.01_linux.run sudo sh cuda_11.3.1_465.19.01_linux.run install cudnn sudo dpkg -i libcudnn8 sudo dpkg -i libcudnn8 sudo dpkg -i libcudnn8 Create a virtual environment conda create -n pcdet python==3.8 install torch pip install torch==1.11.0 + cu113 torchvision==0.12.0 + cu113 torchaudio==0.11.0 –extra-index-url https://download.pytorch.org/whl/cu113 install spconv Make sure cumm and spconv are not […]

Qt+vtk+pcl realizes point cloud voxel downsampling

Directory Add dialog controls layout ui mainwindow.h add header file filter_voxel.h settings filter_voxel.cpp setting Add relevant header files to pcl_function.h and declare the downsampling function Convert pcl to vtk and visualize the code Pass the parameters entered in the dialog back to the related function Add dialog controls Layout ui mainwindow.h add header file filter_voxel.h […]

VoxelNext, a fully sparse 3D object detection network

GitHub – dvlab-research/VoxelNeXt: VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking (CVPR 2023) https://arxiv.org/abs/2303.11301 Summary The current 3D target detection model uses the 2D method in the detection part. On the dense feature map, the 3D frame is predicted through the preset anchor or center. The innovation of this paper is to use […]