提交更新

script/trans_data.py

@@ -445,10 +445,16 @@ if __name__ == '__main__':
 
       xyz = np.array(pcd.points)
 
+      drawpointcloud = []
       merge_geos = [pcd]
       for bbox in bboxes:
         flag = in_hull(xyz,bbox[1])
-        print(xyz[flag])
+        point_cloud = o3d.geometry.PointCloud()
+        color_ = [[0, 1, 1]]
+        point_cloud.colors = o3d.utility.Vector3dVector(color_)
+        point_cloud.points = o3d.utility.Vector3dVector(xyz[flag])
+        drawpointcloud += [point_cloud]
+        drawpointcloud += [gen_o3d_3dbboxes(bbox[1])]
         #渲染bbox
         merge_geos += [gen_o3d_3dbboxes(bbox[1])]
         heading_point = (bbox[3][0] + bbox[3][2]) / 2
@@ -464,7 +470,8 @@ if __name__ == '__main__':
         merge_geos += [axis_pcd]
         #pcd.paint_uniform_color([1.00, 0, 0])
         
-        custom_draw_geometry_with_key_callback(merge_geos, file_path)
+        # custom_draw_geometry_with_key_callback(merge_geos, file_path)
+        custom_draw_geometry_with_key_callback(drawpointcloud, file_path)
         
     # pcd_list = glob.glob("D:/work/git_workspace/jfxmap_python/script/data_aug_samples/10-1_pcds/*.pcd")
     # print(pcd_list)
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