Crop the points inside a box and save as as a separate point cloud

labelCloud.py

@@ -1,5 +1,4 @@
 from labelCloud.__main__ import main
 
 if __name__ == "__main__":
-
     main()

labelCloud/control/controller.py

@@ -315,3 +315,14 @@ def key_release_event(self, a0: QtGui.QKeyEvent) -> None:
         if a0.key() == QtCore.Qt.Key_Control:
             self.ctrl_pressed = False
             self.view.status_manager.clear_message(Context.CONTROL_PRESSED)
+
+    def crop_pointcloud_inside_active_bbox(self) -> None:
+        bbox = self.bbox_controller.get_active_bbox()
+        assert bbox is not None
+        assert self.pcd_manager.pointcloud is not None
+        points_inside = bbox.is_inside(self.pcd_manager.pointcloud.points)
+        pointcloud = self.pcd_manager.pointcloud.get_filtered_pointcloud(points_inside)
+        if pointcloud is None:
+            logging.warning("No points found inside the box. Ignored.")
+            return
+        self.view.save_point_cloud_as(pointcloud)

labelCloud/control/pcd_manager.py

@@ -8,9 +8,8 @@
 from typing import TYPE_CHECKING, List, Optional, Set, Tuple
 
 import numpy as np
-import pkg_resources
-
 import open3d as o3d
+import pkg_resources
 
 from ..definitions.types import LabelingMode, Point3D
 from ..io.labels.config import LabelConfig

labelCloud/io/labels/kitti.py

@@ -74,7 +74,6 @@ def import_labels(self, pcd_path: Path) -> List[BBox]:
 
         label_path = self.label_folder.joinpath(pcd_path.stem + self.FILE_ENDING)
         if label_path.is_file():
-
             with label_path.open("r") as read_file:
                 label_lines = read_file.readlines()
 

labelCloud/model/bbox.py

@@ -20,7 +20,6 @@
 
 
 class BBox(object):
-
     MIN_DIMENSION: float = config.getfloat("LABEL", "MIN_BOUNDINGBOX_DIMENSION")
     HIGHLIGHTED_COLOR: Color3f = Color3f(0, 1, 0)
 
@@ -255,7 +254,6 @@ def change_side(
             self.translate_side(0, 4, distance)
 
     def is_inside(self, points: npt.NDArray[np.float32]) -> npt.NDArray[np.bool_]:
-
         vertices = self.get_vertices().copy()
 
         #        .------------.

labelCloud/model/point_cloud.py

@@ -355,6 +355,25 @@ def reset_perspective(self) -> None:
         self.trans_x, self.trans_y, self.trans_z = self.init_rotation
         self.rot_x, self.rot_y, self.rot_z = self.init_rotation
 
+    def get_filtered_pointcloud(
+        self, indicies: npt.NDArray[np.bool_]
+    ) -> Optional["PointCloud"]:
+        assert self.points is not None
+        assert self.colors is not None
+        points = self.points[indicies]
+        if points.shape[0] == 0:
+            return None
+        colors = self.colors[indicies]
+        labels = self.labels[indicies] if self.labels is not None else None
+        path = self.path.parent / (self.path.stem + "_cropped" + self.path.suffix)
+        return PointCloud(
+            path=path,
+            points=points,
+            colors=colors,
+            segmentation_labels=labels,
+            write_buffer=False,
+        )
+
     def print_details(self) -> None:
         print_column(
             [

labelCloud/tests/integration/conftest.py

@@ -19,7 +19,6 @@ def pytest_configure(config):
 
 @pytest.fixture
 def startup_pyqt(qtbot, qapp, monkeypatch):
-
     # Setup Model-View-Control structure
     control = Controller()
 
@@ -39,5 +38,4 @@ def startup_pyqt(qtbot, qapp, monkeypatch):
 
 @pytest.fixture
 def bbox():
-
     return BBox(cx=0, cy=0, cz=0, length=3, width=2, height=1)

labelCloud/tests/unit/segmentation_handler/test_numpy_segmentation_handler.py

@@ -66,7 +66,6 @@ def test_create_labels(handler: NumpySegmentationHandler) -> None:
 
 
 def test_write_labels(handler: NumpySegmentationHandler) -> None:
-
     labels = np.random.randint(low=0, high=4, size=(420,), dtype=np.int8)
     with tempfile.TemporaryDirectory() as tempdir:
         label_path = Path(tempdir) / Path("foo.bin")

labelCloud/view/gui.py

@@ -2,6 +2,7 @@
 import os
 import re
 import sys
+import traceback
 from pathlib import Path
 from typing import TYPE_CHECKING, Optional, Set
 
@@ -22,7 +23,9 @@
 from ..control.config_manager import config
 from ..definitions.types import Color3f, LabelingMode
 from ..io.labels.config import LabelConfig
+from ..io.pointclouds import BasePointCloudHandler
 from ..labeling_strategies import PickingStrategy, SpanningStrategy
+from ..model.point_cloud import PointCloud
 from .settings_dialog import SettingsDialog  # type: ignore
 from .startup_dialog import StartupDialog
 from .status_manager import StatusManager
@@ -201,7 +204,14 @@ def __init__(self, control: "Controller") -> None:
         # self.act_rename_class = QtWidgets.QAction("Rename class") #TODO: Implement!
         self.act_change_class_color = QtWidgets.QAction("Change class color")
         self.act_delete_class = QtWidgets.QAction("Delete label")
-        self.label_list.addActions([self.act_change_class_color, self.act_delete_class])
+        self.act_crop_pointcloud_inside = QtWidgets.QAction("Save points inside as")
+        self.label_list.addActions(
+            [
+                self.act_change_class_color,
+                self.act_delete_class,
+                self.act_crop_pointcloud_inside,
+            ]
+        )
         self.label_list.setContextMenuPolicy(QtCore.Qt.ActionsContextMenu)
 
         # BOUNDING BOX PARAMETER EDITS
@@ -316,6 +326,9 @@ def connect_events(self) -> None:
         self.act_delete_class.triggered.connect(
             self.controller.bbox_controller.delete_current_bbox
         )
+        self.act_crop_pointcloud_inside.triggered.connect(
+            self.controller.crop_pointcloud_inside_active_bbox
+        )
         self.act_change_class_color.triggered.connect(self.change_label_color)
 
         # open_2D_img
@@ -658,3 +671,31 @@ def change_label_color(self):
         LabelConfig().set_class_color(
             bbox.classname, Color3f.from_qcolor(QColorDialog.getColor())
         )
+
+    @staticmethod
+    def save_point_cloud_as(pointcloud: PointCloud) -> None:
+        extensions = BasePointCloudHandler.get_supported_extensions()
+        make_filter = " ".join(["*" + extension for extension in extensions])
+        file_filter = f"Point Cloud File ({make_filter})"
+        file_name, _ = QFileDialog.getSaveFileName(
+            caption="Select a file name to save the point cloud",
+            directory=str(pointcloud.path.parent),
+            filter=file_filter,
+            initialFilter=file_filter,
+        )
+        if file_name == "":
+            logging.warning("No file path provided. Ignored.")
+            return
+
+        try:
+            path = Path(file_name)
+            handler = BasePointCloudHandler.get_handler(path.suffix)
+            handler.write_point_cloud(path, pointcloud)
+        except Exception as e:
+            msg = QMessageBox()
+            msg.setWindowTitle("Failed to save a point cloud")
+            msg.setText(e.__class__.__name__)
+            msg.setInformativeText(traceback.format_exc())
+            msg.setIcon(QMessageBox.Critical)
+            msg.setStandardButtons(QMessageBox.Cancel)
+            msg.exec_()

labelCloud/view/viewer.py

@@ -1,12 +1,11 @@
 import logging
 from typing import Optional, Tuple, Union
 
-from PyQt5 import QtGui, QtOpenGL
-
 import numpy as np
 import numpy.typing as npt
 import OpenGL.GL as GL
 from OpenGL import GLU
+from PyQt5 import QtGui, QtOpenGL
 
 from ..control.alignmode import AlignMode
 from ..control.bbox_controller import BoundingBoxController

requirements.txt

@@ -9,7 +9,7 @@ pytest~=7.1.2
 pytest-qt~=4.1.0
 
 # Development
-black~=22.3.0
+black~=23.1.0
 mypy~=0.971
 PyQt5-stubs~=5.15.6
 types-setuptools~=57.4.17