install python-pcl strawlab

cropbox.py

# -*- coding: utf-8 -*-
from __future__ import print_function

import numpy as np
import pcl

import os

def main():

    root = '/home/mpnet/mpnet_ws/src/ur_moveit_experiments/data/test/pcd/real_pcd_0630'
    fn = 'slm_active-response_269_1440520000_compressed'
    ext = '.pcd'
    abspath = os.path.join(root, fn+ext)

    cloud = pcl.load(abspath)
    clipper = cloud.make_cropbox()
    print('clipper = ', clipper)

    outcloud = pcl.PointCloud()

    tx = 0
    ty = 0
    tz = 0
    clipper.set_Translation(tx, ty, tz)
    rx = 0
    ry = 0
    rz = 0
    clipper.set_Rotation(rx, ry, rz)
    minx = -0.7
    miny = -0.3
    minz = 0
    mins = 0
    maxx = 0.7
    maxy = 1
    maxz = 2
    maxs = 0
    clipper.set_MinMax(minx, miny, minz, mins, maxx, maxy, maxz, maxs)
    clipper.set_InputCloud(cloud)

    print('before -----')
    print(cloud)
    outcloud = clipper.filter()
    print('after -----')
    print(outcloud)
    pcl.save(outcloud, "test.pcd")


if __name__ == "__main__":
    main()

Install.md

pcl-dev is required:

$ sudo apt-get update -y
$ sudo apt-get install libpcl-dev -y

non-exhaustive list of the required packages:

pip install --upgrade pip
pip install cython
pip install numpy

clone the source code:

git clone https://github.com/strawlab/python-pcl.git
cd python-pcl

checkout the has that supports python 2.7:

git checkout 9491615033f85db317c9e29b6a9fe89603f97365

use --record in case you want to remove the installation later:

python setup.py build_ext -i
python setup.py install --record files.txt --user

(optional) if later, an installation removal is needed:

args rm -rf < files.txt