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Zero
Running
on
Zero
File size: 1,124 Bytes
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# code for saving voxel grid
import numpy as np
# TODO: adapt to semantic voxel grid
def unpack(compressed):
"""given a bit encoded voxel grid, make a normal voxel grid out of it."""
uncompressed = np.zeros(compressed.shape[0] * 8, dtype=np.uint8)
uncompressed[::8] = compressed[:] >> 7 & 1
uncompressed[1::8] = compressed[:] >> 6 & 1
uncompressed[2::8] = compressed[:] >> 5 & 1
uncompressed[3::8] = compressed[:] >> 4 & 1
uncompressed[4::8] = compressed[:] >> 3 & 1
uncompressed[5::8] = compressed[:] >> 2 & 1
uncompressed[6::8] = compressed[:] >> 1 & 1
uncompressed[7::8] = compressed[:] & 1
return uncompressed
def pack(uncompressed: np.ndarray) -> np.ndarray:
"""convert a boolean array into a bitwise array."""
uncompressed_r = uncompressed.reshape(-1, 8)
compressed = uncompressed_r.dot(
1 << np.arange(uncompressed_r.shape[-1] - 1, -1, -1)
)
return compressed
def save_semantic_kitti(voxel_grid, path, format):
"""Save a voxel grid to a bin file."""
pack(np.flip(voxel_grid, (0, 1, 2)).reshape(-1)).astype(np.uint8).tofile(path)
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