mrdja.pointcloud.get_pointcloud_after_substracting_point_cloud

mrdja.pointcloud.get_pointcloud_after_substracting_point_cloud(pcd: PointCloud, substract: PointCloud, threshold: float = 0.05) → PointCloud[source]

Substracts one pointcloud from another. It removes all the points of the first pointcloud that are closer than threshold to some point of the second pointcloud.

Parameters:

pcd (o3d.geometry.PointCloud) – Pointcloud to substract from.
substract (o3d.geometry.PointCloud) – Pointcloud to substract.
threshold (float) – If a point of the first pointcloud is closer to some point of the second pointcloud than this value, the point is removed.

Returns:

The results after substracting the second pointcloud from the first pointcloud.

Return type:

o3d.geometry.PointCloud

Example:

>>> import mrdja.pointcloud as pointcloud
>>> import open3d as o3d
>>> import numpy as np
>>> np.random.seed(42)
>>> mesh_box = o3d.geometry.TriangleMesh.create_box(width=1.0, height=5.0, depth=1.0)
>>> pcd_1 = mesh_box.sample_points_uniformly(number_of_points = 10000)
>>> mesh_box = o3d.geometry.TriangleMesh.create_box(width=1.5, height=4.0, depth=0.5)
>>> pcd_2 = mesh_box.sample_points_uniformly(number_of_points = 10000)
>>> pcd_1.paint_uniform_color([1, 0, 0])
>>> pcd_2.paint_uniform_color([0, 1, 0])
>>> pcd_1_minus_pcd_2 = pointcloud.get_pointcloud_after_substracting_point_cloud(pcd_1, pcd_2, threshold = 0.02)
>>> pcd_1_minus_pcd_2
PointCloud with 5861 points.
>>> o3d.visualization.draw_geometries([pcd_1, pcd_2])
>>> o3d.visualization.draw_geometries([pcd_1_minus_pcd_2])
>>> pcd_2_minus_pcd_1 = pointcloud.get_pointcloud_after_substracting_point_cloud(pcd_2, pcd_1, threshold = 0.02)
>>> pcd_2_minus_pcd_1
PointCloud with 4717 points.
>>> o3d.visualization.draw_geometries([pcd_2_minus_pcd_1])