pysesa.partition module

Partition a Nx3 point cloud into M windows of nx3 points with specified spacing between centroids of adjacent windows and with specified overlap between windows. Implemented using a binary search tree for fast nearest neighbour point check with boundary pruning

Syntax

You call the function like this:

nr_pts = pysesa.partition(toproc, out, res, mxpts, minpts, prc_overlap).getdata()

Parameters

toproc : ndarray

Nx3 point cloud

Other Parameters

out : float, optional [default = 0.5]

output grid resolution

res : float, optional [default = 0.05]

spatial grid resolution to create a grid for the boundary pruning

mxpts : float, optional [default = 1024]

maximum number of points allowed in a window

minpts : float, optional [default = 16]

minimum number of points allowed in a window

prc_overlap : float, *optional” [default = 0]

percentage overlap between windows

Returns

self.data: list

list of M ndarrays, each containing n indices

of original point cloud, toproc, to partition space to create M windows