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- import open3d as o3d
- import numpy as np
- pcd = o3d.io.read_point_cloud("../laser1.ply")
- # ply_point_cloud = o3d.data.PLYPointCloud()
- # pcd = o3d.io.read_point_cloud(ply_point_cloud.path)
- corners = np.array([
- [ 10, -3.21384387, 0.30217625,],
- [ 10, -1.13804348, 0.29917539,],
- [ 7.69983939, -1.16651864, 0.30329364,],
- [ 7.67473496, -3.24231903, 0.3062945, ],
- [ 10, -3.21276837, 1.03551451,],
- [ 10, -1.13696798, 1.03251366,],
- [ 7.69856999, -1.16544314, 1.03663191,],
- [ 7.67346556, -3.24124353, 1.03963277,],
- ])
- # Convert the corners array to have type float64
- bounding_polygon = corners.astype("float64")
- # Create a SelectionPolygonVolume
- vol = o3d.visualization.SelectionPolygonVolume()
- # You need to specify what axis to orient the polygon to.
- # I choose the "Y" axis. I made the max value the maximum Y of
- # the polygon vertices and the min value the minimum Y of the
- # polygon vertices.
- vol.orthogonal_axis = "Y"
- vol.axis_max = np.max(bounding_polygon[:, 1])
- vol.axis_min = np.min(bounding_polygon[:, 1])
- # Set all the Y values to 0 (they aren't needed since we specified what they
- # should be using just vol.axis_max and vol.axis_min).
- bounding_polygon[:, 1] = 0
- # Convert the np.array to a Vector3dVector
- vol.bounding_polygon = o3d.utility.Vector3dVector(bounding_polygon)
- # Crop the point cloud using the Vector3dVector
- cropped_pcd = vol.crop_point_cloud(pcd)
- # Get a nice looking bounding box to display around the newly cropped point cloud
- # (This part is optional and just for display purposes)
- bounding_box = cropped_pcd.get_axis_aligned_bounding_box()
- bounding_box.color = (1, 0, 0)
- # Draw the newly cropped PCD and bounding box
- # o3d.visualization.draw_geometries([cropped_pcd, bounding_box],
- # zoom=2,
- # front=[5, -2, 0.5],
- # lookat=[7.67473496, -3.24231903, 0.3062945],
- # up=[1.0, 0.0, 0.0])
- # o3d.visualization.draw_geometries([pcd, bounding_box])
- o3d.visualization.draw([pcd, bounding_box],)
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