[python][pcl]python-pcl案例之cropbox操作

测试环境：

pcl==1.13.0

python-pcl==0.3.1

python==3.7

代码：

# -*- coding: utf-8 -*-
from __future__ import print_function

import numpy as np
import pcl


def main():
    cloud = pcl.load('./examples/pcldata/tutorials/table_scene_mug_stereo_textured.pcd')

    # pcl::CropBox<PointXYZI> clipper;
    # clipper.setInputCloud(cloud);
    clipper = cloud.make_cropbox()

    # pcl::PCDWriter writer;
    # pcl::PointCloud<PointXYZI>::Ptr outcloud;
    outcloud = pcl.PointCloud()

    # clipper.setTranslation(Eigen::Vector3f(pose->tx, pose->ty, pose->tz));
    # clipper.setRotation(Eigen::Vector3f(pose->rx, pose->ry, pose->rz));
    # clipper.setMin(-Eigen::Vector4f(tracklet->l/2, tracklet->w/2, 0, 0));
    # clipper.setMax(Eigen::Vector4f(tracklet->l/2, tracklet->w/2, tracklet->h, 0));
    # clipper.filter(*outcloud);
    tx = 0
    ty = 0
    tz = 0
    clipper.set_Translation(tx, ty, tz)
    rx = 0
    ry = 0
    rz = 0
    clipper.set_Rotation(rx, ry, rz)
    minx = -1.5
    miny = -1.5
    minz = 2
    mins = 0
    maxx = 3.5
    maxy = 3.5
    maxz = 3
    maxs = 0
    clipper.set_MinMax(minx, miny, minz, mins, maxx, maxy, maxz, maxs)
    outcloud = clipper.filter()

    pcl.save(outcloud, "test.pcd")

    # stringstream outfilename;
    # outfilename << outfile << tracklet->objectType << i << ".pcd";
    # if(!outcloud->empty()){
    #   cout << "Found "<<outcloud->size() << " points, writing to " << outfilename.str() << endl;
    #   writer.write<PointXYZI> (outfilename.str(), *outcloud, false);
    # }else{
    #   cerr << "Couldn't find points for tracklet" << tracklet->objectType << i << endl;
    # }


if __name__ == "__main__":
    # import cProfile
    # cProfile.run('main()', sort='time')
    main()