PCL求点云外接立方体：AABB（轴对齐）和OBB（带方向）MomentOfInertiaEstimation

本文主要展示一个样例，在PCL中求 AABB Axis-aligned bounding box轴对齐包围盒 和OBB Oriented bounding box 包围盒，从字面意思就能够理解意思；AABB有点像二维图像中的外接矩形，边与坐标轴是平行的，OBB像二维图像中的带方向的外接矩，不一定是最小的，能够比较好的包容整个点集。

在实际使用过程中可以根据自己需求来进行计算，例如：可以用在测量点云的宽度、深度等等，来设置一些算法的参数；例如：对点云进行标记，点云中目标检测标记外接框；例如，对于点云分割结果提取等；例如物理模拟和防碰撞检测等；

主要代码如下，具体说明看注释，足以。

#include <vector>
#include <thread>

#include <pcl/features/moment_of_inertia_estimation.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>

using namespace std::chrono_literals;

int main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
    if (pcl::io::loadPCDFile("table_scene_lms400.pcd", *cloud) == -1)
        return (-1);

    pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
    feature_extractor.setInputCloud(cloud);
    feature_extractor.compute();

    std::vector <float> moment_of_inertia;
    std::vector <float> eccentricity;
    pcl::PointXYZ min_point_AABB;
    pcl::PointXYZ max_point_AABB;
    pcl::PointXYZ min_point_OBB;
    pcl::PointXYZ max_point_OBB;
    pcl::PointXYZ position_OBB;
    Eigen::Matrix3f rotational_matrix_OBB;
    float major_value, middle_value, minor_value;
    Eigen::Vector3f major_vector, middle_vector, minor_vector;
    Eigen::Vector3f mass_center;

    feature_extractor.getMomentOfInertia(moment_of_inertia);
    feature_extractor.getEccentricity(eccentricity);
    feature_extractor.getAABB(min_point_AABB, max_point_AABB);
    feature_extractor.getOBB(min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB);
    feature_extractor.getEigenValues(major_value, middle_value, minor_value);
    feature_extractor.getEigenVectors(major_vector, middle_vector, minor_vector);
    feature_extractor.getMassCenter(mass_center);

    //aabb外接立方体
    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    viewer->setBackgroundColor(0, 0, 0);
    viewer->addCoordinateSystem(1.0);
    viewer->initCameraParameters();
    viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
    viewer->addCube(min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB");
    viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_POINTS, "AABB");

    //obb外接立方体，最小外接立方体
    Eigen::Vector3f position(position_OBB.x, position_OBB.y, position_OBB.z);
    Eigen::Quaternionf quat(rotational_matrix_OBB);
    viewer->addCube(position, quat, max_point_OBB.x - min_point_OBB.x, max_point_OBB.y - min_point_OBB.y, max_point_OBB.z - min_point_OBB.z, "OBB");
    viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "OBB");

    //中心点处加坐标
    pcl::PointXYZ center(mass_center(0), mass_center(1), mass_center(2));
    pcl::PointXYZ x_axis(major_vector(0) + mass_center(0), major_vector(1) + mass_center(1), major_vector(2) + mass_center(2));
    pcl::PointXYZ y_axis(middle_vector(0) + mass_center(0), middle_vector(1) + mass_center(1), middle_vector(2) + mass_center(2));
    pcl::PointXYZ z_axis(minor_vector(0) + mass_center(0), minor_vector(1) + mass_center(1), minor_vector(2) + mass_center(2));
    viewer->addLine(center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector");
    viewer->addLine(center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector");
    viewer->addLine(center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector");

    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        std::this_thread::sleep_for(100ms);
    }

    return (0);
}

参考：https://pcl.readthedocs.io/projects/tutorials/en/latest/moment_of_inertia.html#moment-of-inertia