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Convert Point Cloud to Voxels
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import numpy as np | |
import pandas as pd | |
from pyntcloud import PyntCloud | |
import binvox_rw | |
cloud = PyntCloud.from_file("test/00000.txt", | |
sep=" ", | |
header=0, | |
names=["x","y","z"]) | |
# cloud.plot(mesh=True, backend="threejs") | |
voxelgrid_id = cloud.add_structure("voxelgrid", n_x=32, n_y=32, n_z=32) | |
voxelgrid = cloud.structures[voxelgrid_id] | |
# voxelgrid.plot(d=3, mode="density", cmap="hsv") | |
x_cords = voxelgrid.voxel_x | |
y_cords = voxelgrid.voxel_y | |
z_cords = voxelgrid.voxel_z | |
voxel = np.zeros((32, 32, 32)).astype(np.bool) | |
for x, y, z in zip(x_cords, y_cords, z_cords): | |
voxel[x][y][z] = True | |
with open("test/00000.binvox", 'wb') as f: | |
v = binvox_rw.Voxels(voxel, (32, 32, 32), (0, 0, 0), 1, 'xyz') | |
v.write(f) |
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