polyscope: LAZ + OBJ example

vis.py

import numpy as np
import polyscope as ps
import laspy
import point_cloud_utils as pcu


with laspy.open('m1-off-ground.laz') as fh:
    las = fh.read()
    
    #-- get the coordinates as numpy array nx3
    coords = np.vstack((las.x, las.y, las.z)).transpose()
    print(coords)

    classes = np.array(las.classification)
    print(classes)

    #-- load OBJ
    v, f = pcu.load_mesh_vf("m1-2.obj")
    
    ps.init()
    ps.set_up_dir("z_up")
    ps.set_ground_plane_mode("shadow_only")
    ps.set_ground_plane_height_factor(0.01, is_relative=True)
    ps.set_autocenter_structures(True)
    ps.set_autoscale_structures(True)
    #-- select only 1/100 points to display
    ps_pc = ps.register_point_cloud("non-ground", coords[::100], radius=0.0002, point_render_mode='sphere')
    #-- put the classification as one scalar
    ps_pc.add_scalar_quantity("classification", classes[::100], enabled=True)
    ps_mesh = ps.register_surface_mesh("ground", v, f)
    ps_pc.reset_transform()
    ps_mesh.reset_transform()
    ps.show()