Clusters & bounding boxes

[feersantana5]

I would like to draw my point cloud (pcd) with the clusters (pcd_i) bounded with bounding boxes however I'm not able to use o3d.visualization.draw_geometries() in a proper way.

This is my code:

with o3d.utility.VerbosityContextManager(o3d.utility.VerbosityLevel.Debug) as cm:
labels = np.array(pcd.cluster_dbscan(eps=1, min_points=1, print_progress=False))
if len(labels) != 0:
# Get biggest cluster label
max_label = labels.max() + 1
for i in range(max_label):
# id is array of point names in main point cloud, owned by cluster with label i
id = np.where(labels == i)[0]
# Creating a new point cloud from cluster with label i
pcd_i = pcd.select_by_index(id)
# Bounding the cluster
aabb = pcd_i.get_axis_aligned_bounding_box()
aabb.color = (1,0,0)#aabb bounding box is red
obb = pcd_i.get_oriented_bounding_box()
obb.color = (0,1,0)#obbBounding box is green

o3d.visualization.draw_geometries(??????????????)

[hduonggithub]

o3d.visualization.draw_geometries([pcd, obb, aabb])