def background_removal(
self, point_cloud: open3d.geometry.PointCloud
) -> open3d.geometry.PointCloud:
plane, inliers = point_cloud.segment_plane(distance_threshold=0.005,
ransac_n=4,
num_iterations=250)
return point_cloud.select_down_sample(inliers, invert=True)
def random_down_sample(pc: o3d.geometry.PointCloud, cnt):
pc_cnt = np.asarray(pc.points).shape[0]
if pc_cnt < cnt:
raise ValueError("pc_cnt < sampling cnt")
indices = np.arange(cnt)
if pc_cnt != cnt:
indices = np.random.choice(indices, size=cnt, replace=False)
return pc.select_down_sample(indices)