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import numpy as np |
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def generate_dense_grid_points(bbox_min: np.ndarray, |
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bbox_max: np.ndarray, |
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octree_depth: int, |
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indexing: str = "ij"): |
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length = bbox_max - bbox_min |
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num_cells = np.exp2(octree_depth) |
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x = np.linspace(bbox_min[0], bbox_max[0], int(num_cells) + 1, dtype=np.float32) |
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y = np.linspace(bbox_min[1], bbox_max[1], int(num_cells) + 1, dtype=np.float32) |
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z = np.linspace(bbox_min[2], bbox_max[2], int(num_cells) + 1, dtype=np.float32) |
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[xs, ys, zs] = np.meshgrid(x, y, z, indexing=indexing) |
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xyz = np.stack((xs, ys, zs), axis=-1) |
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xyz = xyz.reshape(-1, 3) |
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grid_size = [int(num_cells) + 1, int(num_cells) + 1, int(num_cells) + 1] |
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return xyz, grid_size, length |
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