写一个点云最大池化代码
时间: 2023-05-19 18:06:55 浏览: 90
以下是一个简单的点云最大池化代码,使用numpy实现:
```python
import numpy as np
def max_pool(points, pool_size):
"""
:param points: numpy array of shape (N, 3) representing N points in 3D space
:param pool_size: int, size of the pooling window
:return: numpy array of shape (N // pool_size, 3) representing the pooled points
"""
num_points = points.shape[0]
num_pooled_points = num_points // pool_size
pooled_points = np.zeros((num_pooled_points, 3))
for i in range(num_pooled_points):
start_idx = i * pool_size
end_idx = start_idx + pool_size
pooled_points[i] = np.max(points[start_idx:end_idx], axis=0)
return pooled_points
```
这个函数接受一个numpy数组表示的点云和一个池化窗口大小,返回一个numpy数组表示的池化后的点云。它将点云分成若干个池化窗口,对每个窗口内的点取最大值作为池化后的点。