mrdja.sampling.sampling_pcd_points

mrdja.sampling.sampling_pcd_points(pcd: PointCloud, num_points: int = 1, seed: int | None = None)

Sample points from a point cloud.

Parameters:

• pcd (o3d.geometry.PointCloud) – The point cloud to sample from.

• num_points (int) – The number of points to sample. Default is 1.

• seed (int) – The seed value for the random number generator. Default is None.

Returns:

The sampled points.

Return type:

np.ndarray

Examples

>>> import open3d as o3d
>>> import mrdja.sampling as sampling
>>> # Create a point cloud from random points sampled from a 3D parallelogram
>>> n_samples = 1000
>>> normal1 = (1, 1, 0)
>>> normal2 = (-2, 1, 1)
>>> normal3 = (1, -1, 3)
>>> center = (1, 2, 0)
>>> length1 = 5
>>> length2 = 4
>>> length3 = 3
>>> samples = sampling.sampling_parallelogram_3d(n_samples=n_samples, normal1=normal1, normal2=normal2, 
                                         normal3=normal3, center=center, length1=length1,
                                         length2=length2, length3=length3, seed=42)
>>> samples[:5]
[array([ 4.82213591,  1.47208906, -3.92469311]),
array([-1.74561756,  1.03184009,  2.53618024]),
array([ 6.03115264,  2.54288771, -2.35494829]),
array([ 0.91594816, -1.49252787, -1.07725051]),
array([ 1.49163196, -2.02162286,  0.14431054])]
>>> pcd = o3d.geometry.PointCloud()
>>> pcd.points = o3d.utility.Vector3dVector(samples)
>>> # paint the point cloud in blue
>>> pcd.paint_uniform_color([0, 0, 1])
>>> # Sample 300 random points from the point cloud
>>> sampled_points = sampling.sampling_pcd_points(pcd, 300, seed=42)
>>> sampled_points[:5]
array([[-3.29369778,  2.38822478,  3.96820711],
        [-0.15203634,  3.14597455,  3.11019749],
        [ 2.41599518, -1.37126689, -3.70481201],
        [ 3.02922805, -2.15456602, -0.98563083],
        [ 0.75636732,  5.3772318 , -2.63251376]])
>>> # create a point cloud from the sampled points
>>> sampled_pcd = o3d.geometry.PointCloud()
>>> sampled_pcd.points = o3d.utility.Vector3dVector(sampled_points)
>>> # paint the sampled points in red
>>> sampled_pcd.paint_uniform_color([1, 0, 0])
>>> # visualize the point clouds
>>> o3d.visualization.draw_geometries([pcd, sampled_pcd])