sample_util.py

import numpy as np


def save_samples_truncted_prob(fname, points, prob):
    '''
    Save the visualization of sampling to a ply file.
    Red points represent positive predictions.
    Green points represent negative predictions.
    :param fname: File name to save
    :param points: [N, 3] array of points
    :param prob: [N, 1] array of predictions in the range [0~1]
    :return:
    '''
    r = (prob > 0.5).reshape([-1, 1]) * 255
    g = (prob < 0.5).reshape([-1, 1]) * 255
    b = np.zeros(r.shape)

    to_save = np.concatenate([points, r, g, b], axis=-1)
    return np.savetxt(fname,
                      to_save,
                      fmt='%.6f %.6f %.6f %d %d %d',
                      comments='',
                      header=(
                          'ply\nformat ascii 1.0\nelement vertex {:d}\nproperty float x\nproperty float y\nproperty float z\nproperty uchar red\nproperty uchar green\nproperty uchar blue\nend_header').format(
                          points.shape[0])
                      )


def save_samples_rgb(fname, points, rgb):
    '''
    Save the visualization of sampling to a ply file.
    Red points represent positive predictions.
    Green points represent negative predictions.
    :param fname: File name to save
    :param points: [N, 3] array of points
    :param rgb: [N, 3] array of rgb values in the range [0~1]
    :return:
    '''
    to_save = np.concatenate([points, rgb * 255], axis=-1)
    return np.savetxt(fname,
                      to_save,
                      fmt='%.6f %.6f %.6f %d %d %d',
                      comments='',
                      header=(
                          'ply\nformat ascii 1.0\nelement vertex {:d}\nproperty float x\nproperty float y\nproperty float z\nproperty uchar red\nproperty uchar green\nproperty uchar blue\nend_header').format(
                          points.shape[0])
                      )