问题
I am trying to get point level segmentation from box annotations. I get the box annotation in the form of a Json File from online labeling software Supervisely. I use PCL's cropbox filter to obtain a point level segmentation. Although, most of the points are correctly being obtained, I am still getting indices of points outside the box. I think there is something going wrong with how I am assigning the orientation of box in the filter. The methodology is discussed in a previous stack overflow question here. The Json file from software is shown below:
[{"id":36698,"name":"vel_1558647824006782.pcd","annotations":[{"className":"Car","geometryType":"cuboid","classId":957,"geometry":{"position":{"x":9.539855967959713,"y":18.342023271012913,"z":0.43944128482454614},"rotation":{"x":0,"y":0,"z":0},"dimensions":{"x":5.691547052392309,"y":1.6625674002633986,"z":1.757779283656416}}},{"className":"ground","geometryType":"cuboid","classId":958,"geometry":{"position":{"x":28.890481890779242,"y":8.463823613489927,"z":-1.0314986175132965},"rotation":{"x":0,"y":0,"z":0},"dimensions":{"x":96.34273328620523,"y":18.714553504372063,"z":1.0544185995045456}}}]}]
This contains, the class and global position, orientation and dimensions of each box.
Can you please help me figure out what is going wrong when I am using the crop box filter?
来源：https://stackoverflow.com/questions/59163631/point-level-segmentation-from-box-annotation-of-point-cloud-using-crop-box-filte