pypose.random_filter

class pypose.random_filter(points, num)

Randomly sample a number of points from a batched point cloud.

Parameters:

• points (torch.Tensor) – the input point cloud, where the last dimension (D) is the dimension of the points. The shape should be (…, N, D), where N is the number of points.

• num (int) – the number of points to sample.

Returns:

The sampled points, with the shape (…, num, D).

Return type:

output (torch.Tensor)

Example

>>> import torch, pypose as pp
>>> points = torch.tensor([[1., 2., 3.],
...                        [4., 5., 6.],
...                        [7., 8., 9.],
...                        [10., 11., 12.],
...                        [13., 14., 15.]])
>>> pp.random_filter(points, 3)
tensor([[ 4.,  5.,  6.],
        [ 1.,  2.,  3.],
        [10., 11., 12.]])