# Copyright (c) 2017-2019, Matheus Boni Vicari, TLSeparation Project
# All rights reserved.
#
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
__author__ = "Matheus Boni Vicari"
__copyright__ = "Copyright 2017-2019, TLSeparation Project"
__credits__ = ["Matheus Boni Vicari"]
__license__ = "GPL3"
__version__ = "1.3.2"
__maintainer__ = "Matheus Boni Vicari"
__email__ = "matheus.boni.vicari@gmail.com"
__status__ = "Development"
from collections import defaultdict
[docs]def voxelize_cloud(arr, voxel_size):
"""
Generates a dictionary of voxels containing their central coordinates
and indices of points belonging to each voxel.
Parameters
----------
arr: array
Array of points/entries to voxelize.
voxel_size: float
Length of all voxels sides/edges.
Returns
-------
vox: defaultdict
Dictionary containing voxels. Keys are voxels' central coordinates and
values are indices of points in arr inside each voxel.
"""
voxels_ids = (arr / voxel_size).astype(int) * voxel_size
vox = defaultdict(list)
for i, v in enumerate(voxels_ids):
vox[tuple(v)].append(i)
return vox