import numpy as np

import open3d as o3d

import math

import itertools

if __name__ == '__main__':

# Read point cloud:

pcd = o3d.io.read_point_cloud("../data/depth_2_pcd.ply")

# Create bounding box:

bounds = [[-math.inf, math.inf], [-math.inf, math.inf], [0.8, 2]] # set the bounds

bounding_box_points = list(itertools.product(*bounds)) # create limit points

bounding_box = o3d.geometry.AxisAlignedBoundingBox.create_from_points(

o3d.utility.Vector3dVector(bounding_box_points)) # create bounding box object

# Crop the point cloud using the bounding box:

pcd_croped = pcd.crop(bounding_box)

# Display the cropped point cloud:

o3d.visualization.draw_geometries([pcd_croped])