25 lines
685 B
Python
25 lines
685 B
Python
import numpy as np
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class FarthestpointSampling():
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def __init__(self, K):
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self.k = K
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def __call__(self, pts, *args, **kwargs):
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if pts.shape[0] < self.k:
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return pts
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def calc_distances(p0, points):
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return ((p0[:3] - points[:, :3]) ** 2).sum(axis=1)
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farthest_pts = np.zeros((self.k, pts.shape[1]))
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farthest_pts[0] = pts[np.random.randint(len(pts))]
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distances = calc_distances(farthest_pts[0], pts)
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for i in range(1, self.k):
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farthest_pts[i] = pts[np.argmax(distances)]
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distances = np.minimum(distances, calc_distances(farthest_pts[i], pts))
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return farthest_pts
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