visualize occupancy

visualize_occupancy.py

import numpy as np
import open3d as o3d

points_dict = np.load("points.npz")
points = points_dict['points']

if points.dtype == np.float16:
    points = points.astype(np.float32)
    points += 1e-4 * np.random.randn(*points.shape)
else:
    points = points.astype(np.float32)

occupancies = points_dict['occupancies']
if True:
    occupancies = np.unpackbits(occupancies)[:points.shape[0]]
occupancies = occupancies.astype(np.float32)

index = np.where(occupancies > 0.5)
points = points[index]
print(points)

pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
o3d.visualization.draw_geometries([pcd])