floppyrj45/cosma-nav
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: PLY décimation voxel volumétrique 3D + open3d lazy import

Browse Source
This commit is contained in:
Floppyrj45
2026-04-24 10:48:55 +00:00
parent 67b323eea8
commit 36c7889db1
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
viz/server.py
View File

@@ -96,9 +96,11 @@ def _load_data() -> dict:
import open3d as o3d import open3d as o3d
pcd = o3d.io.read_point_cloud(_PLY_PATH) pcd = o3d.io.read_point_cloud(_PLY_PATH)
n_pts = len(pcd.points) n_pts = len(pcd.points)
if n_pts > 200_000: MAX_PTS = 300_000
vox = float((pcd.get_max_bound() - pcd.get_min_bound()).max()) * (200_000 / n_pts) ** (1/3) if n_pts > MAX_PTS:
pcd = pcd.voxel_down_sample(float(vox)) vol = float(np.prod(pcd.get_max_bound() - pcd.get_min_bound()))
vox = max((vol / MAX_PTS) ** (1/3), 0.02)
pcd = pcd.voxel_down_sample(vox)
pts = np.asarray(pcd.points) pts = np.asarray(pcd.points)
ce = out.get("origin", {}).get("easting", 0.0) ce = out.get("origin", {}).get("easting", 0.0)
cn = out.get("origin", {}).get("northing", 0.0) cn = out.get("origin", {}).get("northing", 0.0)