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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
def display_inlier_outlier(cloud, ind):
inlier_cloud = cloud.select_by_index(ind)
outlier_cloud = cloud.select_by_index(ind, invert=True)
print("Showing outliers (red) and inliers (gray): ")
outlier_cloud.paint_uniform_color([1, 0, 0])
inlier_cloud.paint_uniform_color([0.8, 0.8, 0.8])
o3d.visualization.draw([inlier_cloud, outlier_cloud])
if __name__ == "__main__":
ptcloud_data = o3d.data.PLYPointCloud()
print("Load a ply point cloud, print it, and render it")
pcd = o3d.io.read_point_cloud(ptcloud_data.path)
R = pcd.get_rotation_matrix_from_xyz((np.pi, 0, 0))
pcd.rotate(R, center=(0, 0, 0))
o3d.visualization.draw([pcd])
print("Downsample the point cloud with a voxel of 0.02")
voxel_down_pcd = pcd.voxel_down_sample(voxel_size=0.02)
o3d.visualization.draw([voxel_down_pcd])
print("Statistical oulier removal")
cl, ind = voxel_down_pcd.remove_statistical_outlier(nb_neighbors=20,
std_ratio=2.0)
display_inlier_outlier(voxel_down_pcd, ind)
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