cupoch.cupoch.device_vector_vector3f can not convert to numpy array? about cupoch HOT 5 CLOSED

Hi @longwoo ,

Thank you for reporting.
Please try the conversion in the following way.

np.asarray(pcd.points.cpu())

And DBSCAN clustering may not work. I am currently debugging.

from cupoch.

I added crop function that takes OrientedBoundingBox.
You can use it by fetching the latest "master" branch and compiling it.

from cupoch.

@neka-nat
Thank you for your quick answer. It solves my problem.

And I want to make sure that pcd.crop is not support OrientedBoundingBox type yet? Since it gives me

    pc_ground = pcd.crop(box_ground)
TypeError: crop(): incompatible function arguments. The following argument types are supported:
    1. (self: cupoch.cupoch.geometry.PointCloud, bounding_box: cupoch::geometry::AxisAlignedBoundingBox) -> cupoch.cupoch.geometry.PointCloud

Invoked with: geometry::PointCloud with 139003 points., geometry::OrientedBoundingBox

So I need to use AxisAlignedBoundingBox as input instead of OrientedBoundingBox.

--------------------------------------------------------------------------------------------------------------------

now I use

box_ground = x3d.geometry.OrientedBoundingBox(np.array([0.0, height_max_temp, 0.0]), np.eye(3), np.array([4.5, 0.2, max_depth]))
pc_ground = pcd.crop(box_ground.get_axis_aligned_bounding_box())

It works!

from cupoch.

Hi @longwoo ,

Thank you for reporting. Please try the conversion in the following way.

np.asarray(pcd.points.cpu())

And DBSCAN clustering may not work. I am currently debugging.

Can DBSCAN clustering work correctly ?

from cupoch.

I run the clustering.py and get the following results:
fragment has 196133 points
[2023-06-21 21:12:18.968] [debug] Precompute Neighbours
Precompute Neighbours[========================================] 100%
fragment has 196133 clusters

from cupoch.