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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import open3d as o3d
if __name__ == "__main__":
print("Load a ply point cloud, crop it, and render it")
sample_ply_data = o3d.data.DemoCropPointCloud()
pcd = o3d.io.read_point_cloud(sample_ply_data.point_cloud_path)
vol = o3d.visualization.read_selection_polygon_volume(
sample_ply_data.cropped_json_path)
chair = vol.crop_point_cloud(pcd)
# Flip the pointclouds, otherwise they will be upside down.
pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
chair.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
print("Displaying original pointcloud ...")
o3d.visualization.draw([pcd])
print("Displaying cropped pointcloud")
o3d.visualization.draw([chair])
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