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# -*- coding: utf-8 -*-
import numpy as np
def generate_dense_grid_points(bbox_min: np.ndarray,
bbox_max: np.ndarray,
octree_depth: int,
indexing: str = "ij"):
length = bbox_max - bbox_min
num_cells = np.exp2(octree_depth)
x = np.linspace(bbox_min[0], bbox_max[0], int(num_cells) + 1, dtype=np.float32)
y = np.linspace(bbox_min[1], bbox_max[1], int(num_cells) + 1, dtype=np.float32)
z = np.linspace(bbox_min[2], bbox_max[2], int(num_cells) + 1, dtype=np.float32)
[xs, ys, zs] = np.meshgrid(x, y, z, indexing=indexing)
xyz = np.stack((xs, ys, zs), axis=-1)
xyz = xyz.reshape(-1, 3)
grid_size = [int(num_cells) + 1, int(num_cells) + 1, int(num_cells) + 1]
return xyz, grid_size, length
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