提交修改

script/trans_data.py

@@ -9,6 +9,8 @@ import shutil as sh
 import copy
 from scipy.spatial.transform import Rotation as R
 import cv2
+from scipy.spatial import Delaunay
+import scipy
 
 
 def compute_pitch(A,B,C):
@@ -389,6 +391,23 @@ def custom_draw_geometry_with_key_callback(pcd, file_path):
   key_to_callback[ord("S")] = save_pcd
   o3d.visualization.draw_geometries_with_key_callbacks(pcd, key_to_callback)
 
+
+def in_hull(p, hull):
+    """
+    :param p: (N, K) test points
+    :param hull: (M, K) M corners of a box
+    :return (N) bool
+    """
+    try:
+        if not isinstance(hull, Delaunay):
+            hull = Delaunay(hull)
+        flag = hull.find_simplex(p) >= 0
+    except scipy.spatial.qhull.QhullError:
+        print('Warning: not a hull %s' % str(hull))
+        flag = np.zeros(p.shape[0], dtype=np.bool)
+
+    return flag
+
 if __name__ == '__main__':
 
     root_path = "D:/work/git_workspace/jfxmap_python/script/data_aug_samples/"
@@ -424,8 +443,12 @@ if __name__ == '__main__':
       print(pcd)
       print(converted_pcd)
 
+      xyz = np.array(pcd.points)
+
       merge_geos = [pcd]
       for bbox in bboxes:
+        flag = in_hull(xyz,bbox[1])
+        print(xyz[flag])
         #渲染bbox
         merge_geos += [gen_o3d_3dbboxes(bbox[1])]
         heading_point = (bbox[3][0] + bbox[3][2]) / 2