open3d 绕点云中心z轴旋转

（记录）
open3d 绕点云中心z轴旋转

test = o3d.io.read_point_cloud('test.pcd')
voxel = 0.001
test_voxel = test.voxel_down_sample(voxel)
angle_degrees = 90

angle_radians = np.radians(angle_degrees)
R = np.array([[np.cos(angle_radians), -np.sin(angle_radians), 0],
              [np.sin(angle_radians), np.cos(angle_radians), 0],
              [0, 0, 1]])

center = test_voxel.get_center()
# Rotate the point cloud using the rotation matrix
rotated_pcd = test_voxel.rotate(R, center=(center[0],center[1],center[2]))

# Save the rotated point cloud to a new file
o3d.io.write_point_cloud('output_rotated_pcd.pcd', rotated_pcd)

将点云旋转到给定的矩阵

import open3d as o3d
import numpy as np


point_cloud = o3d.io.read_point_cloud("1.pcd")
# 将给定的变换矩阵转换为numpy数组
transformation_matrix = np.array([[-9.99997193e-01, 4.48734484e-04, -2.32648197e-03, 9.47577298e-01],
                                 [-4.23479664e-04, -9.99941107e-01, -1.08445204e-02, -2.09600057e+00],
                                 [-2.33121127e-03, -1.08435048e-02, 9.99938490e-01, -1.29098655e+00],
                                 [0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
point_cloud.transform(transformation_matrix)


o3d.io.write_point_cloud("1_transformed.pcd", point_cloud)