def points_to_cloud()

in pytouch/common/visualizer.py [0:0]

• 14 lines of code
• 4 McCabe index (conditional complexity)

    def points_to_cloud(self, points_3d, colors=None):
        clouds = [o3d.geometry.PointCloud()]
        for idx, cloud in enumerate(clouds):
            points_3d_np = (
                points_3d[idx].to("cpu").detach().numpy()
                if torch.is_tensor(points_3d[idx])
                else points_3d[idx]
            )
        cloud.points = copy.deepcopy(
            o3d.utility.Vector3dVector(points_3d_np.transpose())
        )
        if colors is not None:
            cloud.paint_uniform_color(colors[idx])
        return clouds