PointCloud inside the bounding box

#1

Hello,

is there any method to extract point clouds inside a bounding box?

I want to crop out point clouds for each annotated bounding box

It seems ‘points_in_box’ returns mask that can extract point cloud inside a bounding box
[https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/utils/geometry_utils.py#L111]

but due to my poor programming skill, I can not figure out how to use this method

Would you mind giving me a simple example code that shows how to use this method?

thanks,

Lee.

#2

This method returns a mask of which points are in the box, then you just need to filter out all other points. I suggest you do some tutorials of Python and Numpy if you don’t understand the code.

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